Intelligent projection robot

Abstract

The application provides a kind of intelligent projection robot, including projection robot, base mechanism, projection mechanism and take arrow mechanism.Taking arrow by take arrow mechanism, putting arrow, projecting by projection mechanism, wherein, projection mechanism includes angle adjusting mechanism, force storage mechanism and arrow body placing mechanism, angle adjusting mechanism includes horizontal direction angle adjusting and vertical direction angle adjusting, and then projection mechanism realizes accurate projection of arrow, the application mainly uses pneumatic and electric combination, more uses belt drive and gear drive, simple structure is relatively light, and high efficiency operation is realized by mechanism division, the product has higher flexibility, mobility, projection is more accurate, overall structure is relatively stable, command execution is rapid, execution efficiency is high, quality is high and the like characteristics, the product reduces production cost, improves work efficiency, is other product not easy to achieve.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an intelligent projection robot. Background Technology

[0002] "Pitch-pot" is an ancient Chinese traditional etiquette and game. During the Spring and Autumn and Warring States periods, one of the rituals for feudal lords when entertaining guests was to invite them to shoot arrows, called "archery ceremony." Later, to allow guests who were not good at archery to participate in the game, arrows were thrown into a wine pot instead, to entertain the guests and to teach etiquette. Over time, pitch-pot became a way to entertain guests at banquets and an elegant competition. However, current pitch-pot robots require manual arrow release, resulting in low accuracy.

[0003] This invention is applicable to various types of robot competitions, and the finished product has strong application value. It is easy to assemble, uses pneumatic and electric power as the main power source, and the structure is mainly made of steel such as aluminum alloy, so the material cost is low. It can also be used in life and entertainment, and is open to the general public. Summary of the Invention

[0004] This invention provides an intelligent projection robot.

[0005] In view of the above problems, the technical solution proposed by the present invention is as follows:

[0006] An intelligent projection robot, comprising:

[0007] A projection robot, comprising a base mechanism, a projection mechanism, and an arrow-collecting mechanism, wherein the projection mechanism and the arrow-collecting mechanism are both mounted on the base mechanism and are respectively positioned opposite each other on the top surface of the base mechanism near the sides.

[0008] The projection mechanism includes an angle adjustment mechanism, a power storage mechanism, and an arrow placement mechanism. The angle adjustment mechanism includes horizontal and vertical angle adjustment. The arrow placement mechanism is located on one side of the power storage mechanism, which includes a damper. The angle adjustment mechanism includes an internal gear ring, a base ring, a first vertical frame, a first horizontal frame, a second brushless motor, a third brushless motor, an encoder, and a first lead screw. One end of the first lead screw is hinged to the bottom surface of the damper near its top. The top of the first vertical frame is hinged to the bottom surface of the damper near its bottom. The second brushless motor is used for vertical angle adjustment, and the third brushless motor is used for horizontal angle adjustment. The encoder is used to transmit electrical signals to the second and third brushless motors. The power storage mechanism also includes a main rod. The damper is sleeved on the surface of the main rod near one end. The top and bottom surfaces of the main rod are respectively... The system includes a first slide rail and a second slide rail. The top surface of the main rod has clearance grooves on both sides of the first slide rail. Inside the main rod, near the damper, is a second cylinder aligned with the central axis of the main rod. The pushing end of the second cylinder is connected to a puller via a connecting block through the clearance groove. The pulling end of the puller is opposite to the working end of the damper. The first slide rail has a push-arrow slider, and the second slide rail has a rubber band fixing block. Inside the main rod and the damper, on the side of the cylinder liner of the second cylinder, is a rubber band pulley. The bottom surface of the main rod, away from the damper, has a fourth brushless motor. The output end of the fourth brushless motor is connected to a second lead screw. The other end of the second lead screw passes through the rubber band fixing block and is bearing-mounted on the opposite end surfaces of the damper and the fourth brushless motor. A rubber band is provided between the rubber band fixing block and the push-arrow slider, and the rubber band passes around the rubber band pulley.

[0009] The arrow-retrieving mechanism includes a connecting rod, a rocker arm, a crossbar, a third cylinder, a chain-type moving bar, a gripper, a second spur gear, a third spur gear, a first synchronous wheel, a second synchronous wheel, and a fourth cylinder. The connecting rod is used to fix the arrow-retrieving mechanism to the base mechanism. The fourth cylinder controls the swing angle of the rocker arm. The third cylinder controls the left and right movement of the gripper. The second spur gear, the third spur gear, the first synchronous wheel, and the second synchronous wheel control the swing angle of the crossbar. The gripper is used to grasp the arrow.

[0010] In one embodiment of the present invention, the base mechanism includes a base frame, and omnidirectional wheels are installed near the four corners of the base frame. Each of the four omnidirectional wheels is provided with a first brushless motor. The top surface of the base mechanism is also provided with a gas cylinder fixing plate. There are two gas cylinder fixing plates, which are symmetrically arranged between the projection mechanism and the arrow retrieval mechanism.

[0011] In one embodiment of the present invention, there are two sets of the first vertical frame and the first horizontal frame. The internal gear ring is fixedly disposed on the top surface of the base frame, and the chassis ring bearing is installed on the top surface of the internal gear ring. Both sets of the first vertical frames are disposed on the top surface of the chassis ring via tripods. The encoder and the third brushless motor are disposed on the bottom tripod of the first vertical frame. The output end of the third brushless motor is provided with a first flat gear, and the first flat gear meshes with the internal gear.

[0012] In one embodiment of the present invention, one end of each of the two sets of first horizontal frames is horizontally mounted near the top of the two sets of first vertical frames. The bearings on both sides of the second brushless motor are mounted between the two sets of first horizontal frames and the end away from the first vertical frame. The output end of the second brushless motor is connected to a lead screw nut, and the second brushless motor has a hollow shaft structure. The inside of the lead screw nut is threadedly connected to the surface of the first lead screw, and the first lead screw can pass through the second brushless motor.

[0013] In one embodiment of the present invention, the arrow body placement mechanism includes a first arrow body support plate, a second arrow body support plate, and a third arrow body support plate. The first, second, and third arrow body support plates are respectively disposed on one side of the main rod. A second arrow body lifting plate and a first arrow body lifting plate are provided on the opposite sides of the second and third arrow body support plates. A fifth brushless motor is mounted on the surface of the third arrow body support plate opposite to the second arrow body support plate. A gear set is mounted on the bearing surface of the opposite sides of the third and second arrow body support plates. The gear set consists of three spur gears meshing on the same central axis. The output end of the fifth brushless motor passes through the third arrow body support plate and is connected to the central gear in the gear set. A first connecting rod is fixedly provided at the center of each of the two gears in the gear set. The first connecting rod is hinged to the surface of the first arrow body lifting plate. The centers of the two gears in the gear set pass through the first arrow body lifting plate through a transmission shaft and are fixedly connected to a second connecting rod. The other end of the second connecting rod is hinged to the surface of the second arrow body lifting plate.

[0014] In one embodiment of the present invention, an arrow support plate is provided on the top surface of the main rod near the end of the damper. The top of the arrow support plate is used to support the arrow. The arrow support plate is hinged to the main rod near the center. The bottom of the arrow support plate is hinged to the pushing end of the first cylinder. The cylinder sleeve end of the first cylinder is located inside the damper.

[0015] In one embodiment of the present invention, the arrow-pushing slider and the rubber band fixing block can slide on the first slide rail and the second slider, respectively, and the rubber band fixing block is provided with an internal thread adapted to the second lead screw in the portion through which the second lead screw passes.

[0016] In one embodiment of the present invention, the arrow-pushing slider can engage with a hook in the puller, the puller including a hook and a servo motor, wherein the servo motor is used to control the engagement and disengagement of the hook and the arrow-pushing slider.

[0017] In one embodiment of the present invention, there are two connecting rods and two rocker arms. A first pin is provided between one end of the two connecting rods, and a second spur gear is fixedly sleeved on the surface of the first pin. Both rocker arms are hinged to the pin. A second pin is mounted on the opposing bearing near the bottom end of the two rocker arms. A third spur gear is fixedly sleeved on the surface of the second pin and meshes with the second spur gear. A first synchronous pulley is fixedly sleeved on the surface of the second pin and located on one side of the third spur gear. One side of the crossbar is hinged to the rocker arm near the center. The second synchronous pulley is fixedly installed at the hinge point between the crossbar and the rocker arm. The second synchronous pulley and the first synchronous pulley are driven by a belt. The pushing end of the fourth cylinder is hinged to the rocker arm near the top end by a fixing pin. The cylinder sleeve end of the fourth cylinder is hinged to the top surface of the base mechanism near one side by a hinge seat. An opening is also provided on one side of the crossbar. The third cylinder is installed inside the opening. The pushing end of the third cylinder is provided with a movable plate. The movable plate is fixed to one end of the chain moving bar. The grippers are evenly spaced on the top surface of the chain moving bar. The top plate of the crossbar is also provided with a third slide rail. The bottom surface of the single chain of the chain moving bar with the grippers can slide on the surface of the third slide rail by a sliding block.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. The four brushless motors rotate, driving the four omnidirectional wheels to rotate, thereby enabling the projection robot to move. The gas cylinder is installed through the gas cylinder fixing plate, thereby supplying gas to the gas-using device in the projection robot and enabling the projection robot to work normally.

[0020] 2. When retrieving the arrow, the fourth cylinder retracts, causing the rocker arm to move outward around the hinge with the connecting rod. During the movement, the rocker arm meshes with the fixed second spur gear and the bearing-mounted third spur gear, causing the third spur gear to rotate around the second spur gear. This, in turn, drives the first synchronous wheel to rotate forward. The crossbar is hinged to the rocker arm, and the first synchronous wheel is driven by a belt to the fixedly mounted second synchronous wheel, causing the crossbar to move outward. The extension of the third cylinder causes the chain moving bar to extend, and the gripper grasps the arrow. When releasing the arrow, the third cylinder retracts, causing the chain moving bar to fold and the grippers to move closer together. The fourth cylinder extends, moving the rocker arm closer to the projection mechanism. This, along with the second and third spur gears, the first and second synchronous pulleys, moves the crossbar closer to the arrow placement mechanism, and the grippers place the retrieved arrow onto the mechanism. When loading the arrow, the fifth brushless motor rotates, driving the gear set. The centers of the spur gears on both sides are hinged to the surface of the first arrow lifting plate via a first connecting rod. The centers of the spur gears on both sides are also fixedly connected to a second connecting rod via a drive shaft passing through the first arrow lifting plate. The other end of the second connecting rod is hinged to the surface of the second arrow lifting plate, thus enabling the movement of the first and second arrow lifting plates, placing the arrow on the power storage mechanism, and ensuring accurate projection. In preparation, the second cylinder retracts, causing the puller to move diagonally upwards. When the hook in the puller contacts the arrow-pushing slider, the servo motor inside the puller controls the hook to engage with the arrow-pushing slider. After engagement, the second cylinder extends, causing the puller to pull the arrow-pushing slider to its extension limit. After the arrow-retrieving mechanism releases the arrow, the fifth brushless motor loads the arrow. The arrow body is supported by the arrow holder and the arrow-pushing slider. The fourth brushless motor rotates, driving the second lead screw to rotate, causing the rubber band fixing block to move on the second lead screw. A rubber band is provided between the rubber band fixing block and the arrow-pushing slider, and the rubber band passes around the rubber band pulley. Therefore, by controlling the number of rotations of the fourth brushless motor, the distance between the rubber band fixing block and the rubber band pulley is controlled, thereby controlling the pulling force of the rubber band on the arrow-pushing slider, thus achieving control of the arrow projection distance. During projection, the servo control hook in the puller releases the arrow-pushing slider. The arrow-pushing slider slides rapidly on the first slide rail under the pull of the rubber band, and pushes the arrow support plate through the first cylinder, making the arrow support plate horizontal at the moment of arrow projection, thus realizing the projection of the arrow.

[0021] 3. The horizontal angle adjustment of the projection mechanism is achieved by the main control mechanism sending a signal to the encoder, which in turn sends an electrical signal to the third brushless motor. The third brushless motor drives the first spur gear to rotate, and the first spur gear meshes with the internal gear ring. The chassis ring bearing is mounted on the top surface of the internal gear ring. Therefore, the horizontal adjustment of the projection mechanism can be achieved when the third brushless motor rotates forward and backward. For vertical angle adjustment, the main control mechanism sends a signal to the encoder, which in turn sends an electrical signal to the second brushless motor. The second brushless motor rotates, causing the lead screw nut to rotate. The inside of the lead screw nut is threadedly connected to the surface of the first lead screw. The first lead screw can pass through the second brushless motor. The top of the first lead screw is hinged to the bottom surface of the damper near the top, and the top of the first vertical frame is also hinged to the bottom surface of the damper near the bottom. Therefore, during the rotation of the four-bar nut, the first lead screw pulls the damper in the projection mechanism downward or upward, thereby driving the main rod to achieve vertical angle adjustment.

[0022] 4. This invention enables the movement of the projection robot through a base mechanism, the retrieval and release of arrows through an arrow-collecting mechanism, and the projection mechanism for projecting the arrows. The projection mechanism includes an angle adjustment mechanism, a power storage mechanism, and an arrow placement mechanism. The angle adjustment mechanism includes horizontal and vertical angle adjustment, thus enabling precise arrow projection. This invention is suitable for various types of robot competitions and has strong application value. It is simple to assemble, uses pneumatic and electric power as the main power sources, and is mainly made of aluminum alloy and other steel materials, resulting in low material costs. It can also be used in daily life and entertainment, making it accessible to the general public.

[0023] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of an intelligent projection robot disclosed in an embodiment of the present invention;

[0025] Figure 2 This is a model diagram of an intelligent projection robot disclosed in an embodiment of the present invention;

[0026] Figure 3 This is a three-dimensional structural diagram of the base mechanism disclosed in an embodiment of the present invention;

[0027] Figure 4 This is a three-dimensional structural schematic diagram of the projection mechanism disclosed in an embodiment of the present invention;

[0028] Figure 5This is a three-dimensional structural schematic diagram of the projection mechanism disclosed in an embodiment of the present invention;

[0029] Figure 6 This is a schematic cross-sectional view of the main rod in the projection mechanism disclosed in an embodiment of the present invention;

[0030] Figure 7 This is a three-dimensional structural diagram of the arrow-retrieving mechanism disclosed in an embodiment of the present invention.

[0031] Reference numerals: 100, Projection robot; 200, Base mechanism; 2001, Base frame; 2002, Omnidirectional wheel; 2003, First brushless motor; 2004, Gas cylinder fixing plate; 300, Projection mechanism; 3001, Internal gear ring; 3002, Chassis ring; 3003, First vertical frame; 3004, First horizontal frame; 3005, Second brushless motor; 3006, Lead screw nut; 3007 3008. First lead screw; 3009. Hinge seat; 3010. Encoder; 3011. Third brushless motor; 3012. First spur gear; 3013. Damper; 3014. Main rod; 3015. Arrow support plate; 3016. First cylinder; 3017. Second cylinder; 3018. Second lead screw; 3019. Fourth brushless motor; 3020. Rubber band fixing block; 3021. Rubber band pulley; 3022. 3021, 3022, 3023, 3024, 3025, 3026, 3027, 3028, 3029, 3020, 3020, 3021, 3022, 3033, 3024, 3025, 3026, 3027, 3028, 3029, 3020, 3030, 3031, 3022, 3033, 3034, 3035, 3036, 3027, 3028, 3029, 3030, 3031, 3032, 3033, 3034, 3035, 3036, 3027, 3028, 3029, 30 ...20, 3020, 3020, 3020, 3020, 3021, 3022, 3020, 3020, 3020, 3020, 3020, 3020, 3020, 3020, 3020, 3020, 3020, 3020, 3020, 3020, 3020, 4001 Arrow-retrieving mechanism; 4002 Connecting rod; 4003 Rocker arm; 4004 Crossbar; 4005 Opening; 4006 Third cylinder; 4007 Movable plate; 4008 Third slide rail; 4009 Chain moving bar; 4010 Gripper; 4011 Third spur gear; 4012 First synchronous pulley; 4013 Second synchronous pulley; 4014 Fourth cylinder. Specific Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0033] The embodiments of the present invention are also implemented through the following technical solutions.

[0034] Please refer to the appendix. Figure 1-7As shown, one technical solution of the present invention is an intelligent projection robot, comprising a projection robot 100, a base mechanism 200, a projection mechanism 300, and an arrow retrieval mechanism 400.

[0035] For details, please refer to the appendix. Figure 1-3 As shown, the projection robot 100 includes a base mechanism 200, a projection mechanism 300, and an arrow-collecting mechanism 400. The projection mechanism 300 and the arrow-collecting mechanism 400 are both mounted on the base mechanism 200 and are respectively positioned opposite each other on the top surface of the base mechanism 200 near both sides. The base mechanism 200 includes a base frame 2001, with omnidirectional wheels 2002 installed near each of the four corners of the base frame 2001. Each of the four omnidirectional wheels 2002 is equipped with a first brushless motor 2003. The top surface of the base mechanism 200 also includes... There are two gas cylinder fixing plates 2004, which are symmetrically arranged between the projection mechanism 300 and the arrow-retrieving mechanism 400. During operation, the four first brushless motors 2003 rotate, driving the four omnidirectional wheels 2002 to rotate, thereby realizing the movement of the projection robot 100. The gas cylinders are installed through the gas cylinder fixing plates 2004, thereby supplying gas to the gas-using device in the projection robot 100 and realizing the normal operation of the projection robot 100.

[0036] The arrow-retrieving mechanism 400 includes a connecting rod 4001, a rocker arm 4002, a crossbar 4003, a third cylinder 4005, a chain moving bar 4008, a gripper 4009, a second spur gear 4010, a third spur gear 4011, a first synchronous pulley 4012, a second synchronous pulley 4013, and a fourth cylinder 4014. The connecting rod 4001 is used to fix the arrow-retrieving mechanism 400 to the base mechanism 200. The fourth cylinder 4014 controls the swing angle of the rocker arm 4002, the third cylinder 4005 controls the left and right movement of the gripper 4009, and the second spur gear 4005... 010, the third spur gear 4011, the first synchronous gear 4012, and the second synchronous gear 4013 are used for the swing angle of the crossbar 4003. The gripper 4009 is used for gripping the arrow body. There are two connecting rods 4001 and two rocker arms 4002. A first pin is provided between one end of the two connecting rods 4001, and the second spur gear 4010 is fixedly sleeved on the surface of the first pin. Both rocker arms 4002 are hinged to the pin. The second pin is installed on the bearing of the opposite face of the two rocker arms 4002 near the bottom. The third spur gear 4011 is fixedly sleeved on the surface of the second pin, and... The second spur gears 4010 mesh with each other. The first synchronous pulley 4012 is fixedly sleeved on the surface of the second pin shaft and located on one side of the third spur gear 4011. One side of the crossbar 4003 is hinged to the rocker arm 4002 near the center. The second synchronous pulley 4013 is fixedly installed on the same side of the hinge point between the crossbar 4003 and the rocker arm 4002, and the second synchronous pulley 4013 and the first synchronous pulley 4012 are driven by a belt. The pushing end of the fourth cylinder 4014 is hinged to the rocker arm 4002 near the top end by a fixing pin. The cylinder sleeve end of the fourth cylinder 4014 is hinged by the hinge seat 3008. Near one side of the top surface of the base mechanism 200, an opening 4004 is provided on one side of the crossbar 4003. The third cylinder 4005 is installed inside the opening 4004. The pushing end of the third cylinder 4005 is provided with a movable plate 4006. The movable plate 4006 is fixed to one end of the chain moving bar 4008. The grippers 4009 are evenly distributed at a fixed distance on the top surface of the chain moving bar 4008. The top plate of the crossbar 4003 is also provided with a third slide rail 4007. The bottom surface of the single chain of the chain moving bar 4008 with grippers 4009 can slide on the surface of the third slide rail 4007 through the sliding block.

[0037] For details, please refer to the appendix. Figure 7As shown, when retrieving the arrow, the fourth cylinder 4014 retracts, causing the rocker arm 4002 to move outward around the hinge with the connecting rod 4001. When the rocker arm 4002 moves, it meshes with the fixed second spur gear 4010 and the bearing-mounted third spur gear 4011, causing the third spur gear 4011 to rotate around the second spur gear 4010, which in turn drives the first synchronous wheel 4012 to rotate forward. The crossbar 4003 is hinged to the rocker arm 4002, and the first synchronous wheel 4012 is driven by the belt to the fixedly mounted second synchronous wheel 4013, causing the crossbar 4003 to move outward. The extension of the third cylinder 4005 causes the chain moving bar 4008 to extend, and the gripper 4009 grasps the arrow.

[0038] The arrow body placement mechanism includes a first arrow body support plate 3024, a second arrow body support plate 3025, and a third arrow body support plate 3026. These three plates are respectively located on one side of the main shaft 3013. A second arrow body lifting plate 3028 and a first arrow body lifting plate 3027 are provided on the opposite sides of the second and third arrow body support plates 3025 and 3026, respectively. A fifth brushless motor 3033 is mounted on the surface of the third arrow body support plate 3026 opposite to the second arrow body support plate 3025. Bearings are installed on the opposite surfaces of the third and second arrow body support plates 3026 and 3025. There is a gear set 3034, which consists of three flat gears meshing and connected on the same central axis. The output end of the fifth brushless motor 3033 passes through the third arrow body support plate 3026 and is connected to the central gear in the gear set 3034. The center of each of the two gears in the gear set 3034 is fixedly provided with a first connecting rod 3030. The first connecting rod 3030 is hinged to the surface of the first arrow body lifting plate 3027. The center of each of the two gears in the gear set 3034 is fixedly connected to a second connecting rod 3031 through a transmission shaft passing through the first arrow body lifting plate 3027. The other end of the second connecting rod 3031 is hinged to the surface of the second arrow body lifting plate 3028.

[0039] For details, please refer to the appendix. Figure 7 As shown, when releasing the arrow, the third cylinder 4005 retracts, causing the chain moving bar 4008 to fold, making the grippers 4009 move closer together. The fourth cylinder 4014 extends, causing the rocker arm 4002 to move towards the projection mechanism 300. Through the second spur gear 4010, the third spur gear 4011, the first synchronous wheel 4012, and the second synchronous wheel 4013, the crossbar 4003 moves towards the arrow body placement mechanism, and the grippers 4009 place the retrieved arrow onto the arrow body placement mechanism.

[0040] For details, please refer to the appendix. Figure 4-6As shown, when the arrow is loaded, the fifth brushless motor 3033 rotates, driving the gear set 3034 to rotate. The center of the surface of the flat gears on both sides is hinged to the surface of the first arrow body lifting plate 3027 through the first connecting rod 3030. The center of the flat gears on both sides is fixedly connected to the second connecting rod 3031 through the transmission shaft passing through the first arrow body lifting plate 3027. The other end of the second connecting rod 3031 is hinged to the surface of the second arrow body lifting plate 3028. Thus, the movement of the first arrow body lifting plate 3027 and the second arrow body lifting plate 3028 is realized, so that the arrow is placed on the power storage mechanism.

[0041] The projection mechanism 300 includes an angle adjustment mechanism, a power storage mechanism, and an arrow placement mechanism. The angle adjustment mechanism includes horizontal and vertical angle adjustment. The arrow placement mechanism is located on one side of the power storage mechanism. The power storage mechanism includes a damper 3012. The angle adjustment mechanism includes an internal gear ring 3001, a chassis ring 3002, a first vertical frame 3003, a first horizontal frame 3004, a second brushless motor 3005, a third brushless motor 3010, an encoder 3009, and a first lead screw 3007. One end of the first lead screw 3007 is hinged to the bottom surface of the damper 3012 near the top end. The top end of the first vertical frame 3003 is hinged to the bottom surface of the damper 3012 near the bottom end. The second brushless motor 3005 is used for vertical angle adjustment, the third brushless motor 3010 is used for horizontal angle adjustment, and the encoder 3009 is used to transmit electrical signals to the second brushless motor 3005 and the third brushless motor 3010.

[0042] There are two sets of the first vertical frame 3003 and the first horizontal frame 3004. The internal gear ring 3001 is fixedly installed on the top surface of the base frame 2001. The chassis ring 3002 is mounted on the top surface of the internal gear ring 3001. Both sets of the first vertical frame 3003 are set on the top surface of the chassis ring 3002 by tripods. The encoder 3009 and the third brushless motor 3010 are both set on the tripod at the bottom of the first vertical frame 3003. The output end of the third brushless motor 3010 is provided with a first spur gear 3011, and the first spur gear 3011 meshes with the internal gear.

[0043] For details, please refer to the appendix. Figure 4-5 As shown, the horizontal angle adjustment of the projection mechanism 300 is achieved by the main control mechanism sending a signal to the encoder 3009, which in turn sends an electrical signal to the third brushless motor 3010. The third brushless motor 3010 drives the first spur gear 3011 to rotate. The first spur gear 3011 meshes with the internal gear ring 3001, and the chassis ring 3002 bearing is mounted on the top surface of the internal gear ring 3001. Therefore, the horizontal adjustment of the projection mechanism 300 can be achieved when the third brushless motor 3010 rotates in both directions.

[0044] One end of each of the two sets of first horizontal frames 3004 is horizontally mounted near the top of the two sets of first vertical frames 3003. The bearings on both sides of the second brushless motor 3005 are mounted between the ends of the two sets of first horizontal frames 3004 away from the first vertical frames 3003. The output end of the second brushless motor 3005 is connected to a lead screw nut 3006, and the second brushless motor 3005 is hollow. The inside of the lead screw nut 3006 is threadedly connected to the surface of the first lead screw 3007, and the first lead screw 3007 can pass through the second brushless motor 3005.

[0045] For details, please refer to the appendix. Figure 4-5 As shown, the projection mechanism 300 adjusts its angle in the vertical direction. The main control mechanism sends a signal to the encoder 3009, which in turn sends an electrical signal to the second brushless motor 3005. The second brushless motor 3005 rotates, causing the lead screw nut 3006 to rotate. The inside of the lead screw nut 3006 is threadedly connected to the surface of the first lead screw 3007. The first lead screw 3007 can pass through the second brushless motor 3005. The top of the first lead screw 3007 is hinged to the bottom surface of the damper 3012 near the top, and the top of the first vertical frame 3003 is hinged to the bottom surface of the damper 3012 near the bottom. Therefore, during the rotation of the four-bar nut 3006, the first lead screw 3007 pulls the damper 3012 in the projection mechanism 300 to move downwards or upwards, thereby driving the main rod 3013 to achieve angle adjustment in the vertical direction.

[0046] The power storage mechanism includes a damper 3012, and the angle adjustment mechanism includes an internal gear ring 3001, a chassis ring 3002, a first vertical frame 3003, a first horizontal frame 3004, a second brushless motor 3005, a third brushless motor 3010, an encoder 3009, and a first lead screw 3007. One end of the first lead screw 3007 is hinged to the bottom surface of the damper 3012 near the top end, and the top end of the first vertical frame 3003 is hinged to the bottom surface of the damper 3012 near the bottom end. The second brushless motor 3005 is used for vertical adjustment. The vertical angle adjustment is provided, while the horizontal angle adjustment is provided by the third brushless motor 3010. The encoder 3009 transmits electrical signals to the second brushless motor 3005 and the third brushless motor 3010. The power storage mechanism also includes a main rod 3013, with a damper 3012 sleeved on the surface of the main rod 3013 near one end. The top and bottom surfaces of the main rod 3013 are respectively provided with a first slide rail 3023 and a second slide rail 3032. The top surface of the main rod 3013 has clearance grooves on both sides of the first slide rail 3023. Inside the rod 3013, near the damper 3012, is a second cylinder 3016 aligned with the central axis of the main rod 3013. The pushing end of the second cylinder 3016 is fitted with a puller 3021 via a connecting block passing through a clearance groove. The pulling end of the puller 3021 is positioned opposite to the working end of the damper 3012. A pusher slider 3022 is mounted on the first slide rail 3023, and a rubber band fixing block 3019 is mounted on the second slide rail 3032. The interiors of the main rod 3013 and the damper 3012 are located within the second cylinder 3016. A rubber band pulley 3020 is also provided on one side of the cylinder liner of 016. A fourth brushless motor 3018 is also provided at the bottom end of the main rod 3013 away from the damper 3012. The output end of the fourth brushless motor 3018 is connected to a second lead screw 3017. The other end of the second lead screw 3017 passes through the rubber band fixing block 3019 and is mounted on the opposite end surface of the damper 3012 and the fourth brushless motor 3018. A rubber band is provided between the rubber band fixing block 3019 and the push arrow slider 3022, and the rubber band passes around the rubber band pulley 3020.

[0047] An arrow support plate 3014 is provided on the top surface of the main rod 3013 near the damper 3012. The top of the arrow support plate 3014 is used to support the arrow. The arrow support plate 3014 is hinged to the main rod 3013 near the center. The bottom of the arrow support plate 3014 is hinged to the pushing end of the first cylinder 3015. The cylinder sleeve end of the first cylinder 3015 is located inside the damper 3012. The arrow pusher slider 3022 can engage with the hook in the puller 3021. The puller 3021 includes a hook and a servo motor. The servo motor is used to control the engagement and disengagement of the hook and the arrow pusher slider 3022.

[0048] For details, please refer to the appendix. Figure 6As shown, during the projection preparation, the second cylinder 3016 retracts, driving the puller 3021 to move obliquely upwards. When the hook in the puller 3021 contacts the arrow-pushing slider 3022, the servo motor inside the puller 3021 controls the hook to engage with the arrow-pushing slider 3022. After engagement, the second cylinder 3016 extends, causing the puller 3021 to pull the arrow-pushing slider 3022 to its extension limit. After the arrow-retrieving mechanism 400 completes the arrow release, the fifth brushless motor 3033 completes the arrow loading. The arrow body is supported by the arrow support plate 3014 and the arrow-pushing slider 3022. The fourth brushless motor 3018 rotates, driving the second lead screw 3017 to rotate, thus realizing the rotation of the rubber band fixing block 3019 on the second lead screw. The arrow moves on 3017, and a rubber band is provided between the rubber band fixing block 3019 and the arrow pusher slider 3022. The rubber band passes around the rubber band pulley 3020. Therefore, the distance between the rubber band fixing block 3019 and the rubber band pulley 3020 is controlled by controlling the number of rotations of the fourth brushless motor 3018, thereby controlling the pulling force of the rubber band on the arrow pusher slider 3022. Thus, the arrow projection distance is controlled. When projecting, the servo control hook in the puller 3021 releases the arrow pusher slider 3022. The arrow pusher slider 3022 slides rapidly on the first slide rail 3023 under the pull of the rubber band, and pushes the arrow support plate 3014 through the first cylinder 3015, so that the arrow support plate 3014 is flattened instantly when the arrow is projected, thus realizing the arrow projection.

[0049] It should be noted that the specific models and specifications of the first brushless motor 2003, the second brushless motor 3005, the encoder 3009, the third brushless motor 3010, the damper 3012, the first cylinder 3015, the second cylinder 3016, the fourth brushless motor 3018, the puller 3021, the fifth brushless motor 3033, the third cylinder 4005, and the fourth cylinder 4014 need to be selected and determined according to the actual specifications of the device. The specific selection and calculation method adopts the existing technology in this field, so it will not be described in detail.

[0050] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An intelligent projection robot, characterized by, include: A projection robot, comprising a base mechanism, a projection mechanism, and an arrow-collecting mechanism, wherein the projection mechanism and the arrow-collecting mechanism are both mounted on the base mechanism and are respectively positioned opposite each other on the top surface of the base mechanism near the sides. The projection mechanism includes an angle adjustment mechanism, a power storage mechanism, and an arrow placement mechanism. The angle adjustment mechanism includes horizontal and vertical angle adjustment. The arrow placement mechanism is located on one side of the power storage mechanism, which includes a damper. The angle adjustment mechanism includes an internal gear ring, a base ring, a first vertical frame, a first horizontal frame, a second brushless motor, a third brushless motor, an encoder, and a first lead screw. One end of the first lead screw is hinged to the bottom surface of the damper near its top. The top of the first vertical frame is hinged to the bottom surface of the damper near its bottom. The second brushless motor is used for vertical angle adjustment, and the third brushless motor is used for horizontal angle adjustment. The encoder is used to transmit electrical signals to the second and third brushless motors. The power storage mechanism also includes a main rod. The damper is sleeved on the surface of the main rod near one end. The top and bottom surfaces of the main rod are... The system is equipped with a first slide rail and a second slide rail. The top surface of the main rod has clearance grooves on both sides of the first slide rail. Inside the main rod, near the damper, is a second cylinder aligned with the central axis of the main rod. The pushing end of the second cylinder is connected to a puller via a connecting block through the clearance groove. The pulling end of the puller is positioned opposite the working end of the damper. The first slide rail has a push-arrow slider, and the second slide rail has a rubber band fixing block. Inside the main rod and the damper, on the side of the cylinder liner of the second cylinder, is a rubber band pulley. The bottom surface of the main rod, away from the damper, has a fourth brushless motor. The output end of the fourth brushless motor is connected to a second lead screw. The other end of the second lead screw passes through the rubber band fixing block and is bearing-mounted on the opposite end surfaces of the damper and the fourth brushless motor. A rubber band is provided between the rubber band fixing block and the push-arrow slider, and the rubber band passes around the rubber band pulley. The arrow-retrieving mechanism includes a connecting rod, a rocker arm, a crossbar, a third cylinder, a chain-type moving bar, a gripper, a second spur gear, a third spur gear, a first synchronous wheel, a second synchronous wheel, and a fourth cylinder. The connecting rod is used to fix the arrow-retrieving mechanism to the base mechanism. The fourth cylinder controls the swing angle of the rocker arm. The third cylinder controls the left and right movement of the gripper. The second spur gear, the third spur gear, the first synchronous wheel, and the second synchronous wheel control the swing angle of the crossbar. The gripper is used to grasp the arrow.

2. The intelligent projection robot according to claim 1, wherein: The base mechanism comprises a base frame, omnidirectional wheels are mounted near the four corners of the base frame, first brushless motors are arranged correspondingly on the four omnidirectional wheels, the top surface of the base mechanism is further provided with gas cylinder fixing plates, the number of the gas cylinder fixing plates is two, and the two gas cylinder fixing plates are symmetrically arranged between the projection mechanism and the arrow taking mechanism.

3. The intelligent projection robot according to claim 1, wherein: The number of the first vertical frames and the first horizontal frames is two, the inner tooth ring is fixedly arranged on the top surface of the base frame, the bottom disc ring bearing is arranged on the top surface of the inner tooth ring, the two groups of first vertical frames are arranged on the top surface of the bottom disc ring through tripods, the encoder and the third brushless motor are arranged on the bottom end tripods of the first vertical frames, the output end of the third brushless motor is provided with a first flat gear, and the first flat gear is in mesh with an inner gear.

4. The intelligent projection robot according to claim 1, wherein: One end of the two groups of first horizontal frames is horizontally arranged on the top end of the two groups of first vertical frames, the two side bearings of the second brushless motor are arranged between one end of the two groups of first horizontal frames away from the first vertical frames, the second brushless motor is in transmission connection with a lead screw nut through an output end, the second brushless motor adopts a hollow shaft design, the inside of the lead screw nut is in screw connection with the surface of the first lead screw, and the first lead screw can penetrate through the second brushless motor.

5. The intelligent projection robot according to claim 1, wherein: The arrow body placing mechanism comprises a first arrow body supporting plate, a second arrow body supporting plate and a third arrow body supporting plate, the first arrow body supporting plate, the second arrow body supporting plate and the third arrow body supporting plate are arranged on one side of the main rod respectively, the opposite surfaces of the second arrow body supporting plate and the third arrow body supporting plate are provided with a second arrow body lifting plate and a first arrow body lifting plate, the opposite surfaces of the third arrow body supporting plate and the second arrow body supporting plate are provided with a fifth brushless motor, the surfaces of the opposite surfaces of the third arrow body supporting plate and the second arrow body supporting plate are provided with a gear set through bearings, the gear set is in mesh connection through three flat gears on the same central axis, the output end of the fifth brushless motor is in transmission connection with a central gear of the gear set through the third arrow body supporting plate, the central positions of the two side gears of the gear set are fixedly provided with first connecting rods, the first connecting rods are hinged to the surfaces of the first arrow body lifting plate, the central positions of the two side gears of the gear set are fixedly connected with second connecting rods through transmission shafts penetrating through the first arrow body lifting plate, and the other ends of the second connecting rods are hinged to the surfaces of the second arrow body lifting plate.

6. The intelligent projection robot according to claim 1, wherein: The top end of the arrow head supporting plate is used for supporting an arrow head, the arrow head supporting plate is hinged to the main rod near the central position, and the bottom end of the arrow head supporting plate is hinged to the pushing end of a first air cylinder.

7. The intelligent projection robot according to claim 1, wherein: The pushing arrow sliding block and the rubber band fixing block are respectively slidable on the first sliding rail and the second sliding block, and the rubber band fixing block is partially provided with an inner thread matched with the second lead screw through the second lead screw.

8. The intelligent projection robot of claim 1, wherein: The push arrow sliding block can be engaged with a hook in the puller, and the puller includes a hook and a rudder, wherein the rudder is used to control the engagement and release of the hook and the push arrow sliding block.

9. The intelligent projection robot of claim 1, wherein: The number of the connecting rods and the rocker arms is two, one end of the two connecting rods is provided with a first pin shaft, the second spur gear is fixedly sleeved on the surface of the first pin shaft, the two rocker arms are hingedly connected to the pin shaft, the opposite faces of the two rocker arms near the bottom end are provided with a second pin shaft which is installed in bearing, the third spur gear is fixedly sleeved on the surface of the second pin shaft and is engaged with the second spur gear, the first synchronous wheel is fixedly sleeved on the surface of the second pin shaft and is located on one side of the third spur gear, one side of the cross rod near the center is hingedly connected with the rocker arm, the second synchronous wheel is fixedly installed on the same side of the cross rod and the rocker arm, and the second synchronous wheel and the first synchronous wheel are driven by a belt, the pushing end of the fourth cylinder is hingedly connected to the rocker arm near the top end through a fixed pin, the cylinder sleeve end of the fourth cylinder is hingedly connected to the top surface of the base mechanism near one side through a hinging seat, one side of the cross rod is also provided with an opening, the third cylinder is installed in the opening, the pushing end of the third cylinder is provided with a movable plate, the movable plate is fixed with one end of the chain moving strip, the clamping jaws are equally arranged on the top surface of the chain moving strip, the top plate of the cross rod is also provided with a third sliding rail, and the single-chain bottom surface of the chain moving strip provided with the clamping jaws can slide on the surface of the third sliding rail through a sliding block.

Images