A material throwing method

Abstract

The present invention provides a material throwing method, which throws arrows through an archery robot. The archery robot is provided with a bullet taking device, a throwing device and a bullet loading device on a frame of the archery robot, and the throwing device is provided with a throwing supporting cavity; the bullet loading device includes a bullet loading clamping device, and the bullet taking device includes a bullet loading clamping device. The throwing supporting cavity is used to support arrows, and both the bullet loading clamping device and the bullet taking clamping device are used to clamp arrows. The arrow loading clamping device clamps the arrow and places it on the throwing supporting cavity, and the throwing supporting cavity limits the arrow; the arrow placed on the throwing supporting cavity is not affected by gravity and leaves the throwing supporting cavity; the loading of arrows is realized; the operation of loading arrows is simple; when the arrow clamped by the bullet loading clamping device is placed in the throwing supporting cavity and thrown out, the arrow loading clamping device clamps the arrow on the bullet taking clamping device and provides it to the throwing supporting cavity; the arrows are stored, and the throwing device can throw arrows multiple times.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a material throwing method. Background Art

[0002] Archery was originally used for hunting and warfare, and later became a game and competition; archery has completed the transformation from a traditional military skill to a modern leisure mass sport. With the development of science and technology, traditional manual archery has gradually been replaced by robot archery due to its single technology and poor technical content.

[0003] A patent document in China with application number 202110127792.9 and publication date 2021.6.25 discloses a multifunctional archery robot; it includes a base, a foot assembly, a driving device, a projection device and an arrow storage device; the foot assembly is used to control the movement of the base, and the foot assembly is connected to the base; the driving device is used to control the motion state of the foot assembly; the driving device is installed on the base; the projection device is used to project arrows, and the projection device is installed on the base; the arrow storage device is installed on the base, and the arrow storage device is used to store arrows and provide arrows to the projection device.

[0004] However, in the arrow-throwing robot, the inner wall of the arrow body is provided with an inner spiral pattern, and the outer wall of the guide tube is provided with an outer spiral pattern. The outer spiral pattern and the inner spiral pattern cooperate to mount the arrow body on the pushing mechanism, and the arrow body is shot out by gas. Since the arrow body cooperates with the guide tube, the guide tube will limit the arrow body along the radial direction of the arrow body. When the arrow body needs to be shot out, a large amount of gas needs to be introduced to cause the arrow body to rotate relative to the guide tube to shoot the arrow body. At the same time, due to the threaded cooperation between the inner wall of the arrow body and the outer wall of the guide tube, the shooting of the arrow body will be interfered. When installing the arrow body, it is necessary to align the arrow body with the guide tube. Then, the arrow body is fixed on the guide tube by rotating the arrow body so that the arrow body and the guide tube are threadedly connected. The operation of installing the arrow body of the arrow-throwing robot is cumbersome. At the same time, the structure only clamps one arrow at a time, which is inefficient. Summary of the invention

[0005] The invention provides a material throwing method, and the method of loading arrows is simple; during the loading process of one arrow, no interference will be caused by another arrow.

[0006] To achieve the above-mentioned purpose, the technical solution of the present invention is: a material throwing method, in which an archery robot throws an arrow, the arrow includes an arrowhead, an arrow shaft and an arrow tail, the arrow shaft connects the arrowhead and the arrow tail, the size of the arrowhead is larger than the size of the arrow shaft, the archery robot includes a frame, a bullet taking device, one or more throwing devices and one or more bullet loading devices are provided on the frame, the throwing device is arranged above the bullet loading device, and the bullet loading device is arranged above the bullet taking device; the length of the bullet loading device is greater than the length of the bullet taking device.

[0007] The throwing device includes a throwing rotation device, a throwing drive device, a throwing swing bracket and a throwing support bracket; the throwing rotation device is installed on the frame, the throwing support bracket is installed on the throwing rotation device, and the throwing swing bracket is movably arranged on the throwing support bracket; the throwing drive device is connected to the throwing swing bracket and drives one end of the throwing swing bracket to approach or move away from the throwing support bracket; along the swinging direction of the throwing swing bracket, the bullet loading device is arranged between the throwing device and the bullet taking device; the throwing rotation device is used to drive the throwing drive device, the throwing swing bracket and the throwing support bracket to rotate.

[0008] The throwing swing bracket includes a first supporting member, and the throwing supporting bracket includes a second supporting member; the second supporting member is located between the first supporting member and the bullet filling device; the first supporting member and the second supporting member form an inclined throwing supporting cavity; the throwing supporting cavity is used to support the arrow and limit the arrow head.

[0009] The loading device includes a loading swing drive device, a loading swing bracket, a loading rotation device and a loading clamping device; the loading swing drive device is fixed on the frame, and the output end of the loading swing drive device is connected to the loading swing bracket; the loading rotation device is fixed on the loading swing bracket, and the output end of the loading rotation device is connected to the loading clamping device; the loading clamping device is used to clamp the arrow body to be launched, and the loading rotation device is used to drive the loading clamping device to rotate.

[0010] The bullet retrieval device includes a bullet retrieval transverse movement device, a bullet retrieval transverse movement bracket and one or more bullet retrieval clamping devices; the bullet retrieval transverse movement device is arranged on the frame, the output end of the bullet retrieval transverse movement device is connected to the bullet retrieval transverse movement bracket, and one or more bullet retrieval clamping devices are arranged on the bullet retrieval transverse movement bracket; the bullet retrieval transverse movement device drives the bullet retrieval clamping device to move in a direction perpendicular to the swing direction of the casting swing bracket; the bullet loading swing driving device is used to drive the bullet loading clamping device to swing between the casting support cavity and the bullet retrieval clamping device.

[0011] The material throwing method comprises the following steps:

[0012] (1) The bullet taking and lateral movement device drives the bullet taking and lateral movement bracket to move, and one or more bullet taking and clamping devices and one or more bullet loading and clamping devices are alternately arranged.

[0013] (2) A loading and holding device holds an arrow at one end of the arrow shaft near the tail of the arrow; a removing and holding device holds another arrow at one end of the arrow shaft near the arrow head.

[0014] (3) The loading and rotating device drives the loading and holding device to rotate, and the loading and holding device drives the arrow to rotate, so that the direction of the arrow head of the arrow is consistent with the throwing direction of the throwing support cavity.

[0015] (4) The loading swing drive device drives the loading clamping device to approach the casting support cavity. When the arrow contacts the first support member, the loading clamping device releases its clamping on the arrow. Under the action of gravity, the arrow shaft slides into the casting support cavity, and the casting support cavity limits the arrow head.

[0016] (5) The loading swing drive device drives the loading clamping device away from the throwing support cavity.

[0017] (6) Determine whether the projection target is consistent with the projection direction of the projection support cavity. If so, proceed to (8); if not, proceed to (7).

[0018] (7) The throwing rotating device drives the throwing swing bracket and the throwing supporting bracket to rotate so that the throwing target is consistent with the throwing direction of the throwing supporting cavity.

[0019] (8) The throwing drive device drives the throwing swing bracket to swing in a direction away from the throwing support bracket, and the first support member pushes the arrow to be thrown.

[0020] (9) The bullet taking and lateral movement device drives the bullet taking and lateral movement bracket to move, so that a bullet taking and holding device holding an arrow is positioned correspondingly to a bullet loading and holding device.

[0021] (10) The loading rotation device drives the loading clamping device to reset, and the loading swing driving device drives the loading clamping device to approach the retrieval clamping device and be arranged parallel to the retrieval clamping device.

[0022] (11) The loading and holding device clamps the arrow on the removing and holding device, and clamps it at the end of the arrow shaft close to the tail of the arrow; the removing and holding device releases its clamping of the arrow.

[0023] (12) Repeat (3) to (11) until all arrows on the archery robot have been thrown.

[0024] In the above method, since the length of the loading device is greater than the length of the retrieving device, when the loading device is arranged in parallel with the loading device, the loading clamping device extends out of the retrieving clamping device; thus, the arrow clamped by the loading clamping device is also parallel to the arrow clamped by the retrieving clamping device; when the loading rotating device drives the loading device to rotate, the arrow clamped by the loading device will not collide with the arrow clamped by the retrieving device.

[0025] An arrow is clamped by a loading and clamping device, and is clamped at one end of the arrow shaft near the tail of the arrow; a retrieval and clamping device clamps another arrow; thereby, the retrieval and clamping devices and the loading and clamping devices can clamp different arrows at the same time, and the retrieval and clamping device first provides the arrow for the casting support cavity, and when the arrow clamped by the retrieval and clamping device is projected, the retrieval and clamping device then clamps the arrow clamped by the filling and clamping device and continues to provide the arrow for the casting support cavity; in this way, multiple casting of arrows can be achieved, and the arrow casting efficiency is high; at the same time, before the retrieval and clamping devices and the filling and clamping devices clamp the arrows, the retrieval and horizontal moving bracket moves, so that the retrieval and clamping devices and the filling and clamping devices are alternately arranged; in this way, the retrieval and clamping devices and the filling and clamping devices can be prevented from clamping the same arrow.

[0026] The arrow can be thrown only when the direction of the arrow head is consistent with the throwing direction of the throwing supporting cavity; the loading and clamping device clamps the end of the arrow shaft close to the arrow tail, and will not interfere with the cooperation between the arrow shaft and the throwing supporting cavity; then the loading and clamping device is rotated to make the direction of the arrow head of the arrow be consistent with the throwing direction of the throwing supporting cavity, so that the arrow shaft of the arrow is aligned with the throwing supporting cavity; then the loading and clamping device releases the clamping of the arrow, and the arrow naturally slides into the throwing supporting cavity, and then the arrow shaft is accommodated in the throwing supporting cavity. At the same time, since the size of the arrow head is larger than the size of the arrow shaft, the size of the arrow shaft matches the size of the throwing supporting cavity, and the arrow is limited by the first supporting member to prevent the arrow from escaping from the throwing supporting cavity; then the throwing swing bracket swings to throw the arrow, and the operation of throwing and loading the arrow is simple.

[0027] Furthermore, the loading and clamping device includes a loading and clamping cylinder and a loading and clamping hand, and a clamping sensor is fixed on the loading and clamping cylinder; the loading and clamping hand includes two loading and clamping pieces; one loading and clamping piece is connected to one output end of the loading and clamping cylinder, and the other loading and clamping piece is connected to the other output end of the loading and clamping cylinder; the loading and clamping piece includes more than two loading and clamping parts; the loading and clamping parts connected to one output end of the loading and clamping cylinder and the loading and clamping parts connected to the other output end of the loading and clamping cylinder are alternately arranged.

[0028] The bullet-loading clamping part comprises a first clamping part, on which an arc-shaped second clamping part extends, and a clamping area is formed between the second clamping part and the first clamping part; the clamping areas of adjacent bullet-loading clamps are stacked.

[0029] With the above arrangement, the loading and clamping cylinder drives the loading and clamping hand to clamp or open, thereby clamping or removing the arrow; the adjacent clamping areas are stacked to extend the clamping length of the loading and clamping hand, so as to better clamp the arrow; at the same time, the loading and clamping parts connected to the two output ends of the loading and clamping cylinder are alternately arranged, the loading and clamping part at one output end of the loading and clamping cylinder swings in one direction, and the loading and clamping part at the other output end of the loading and clamping cylinder swings in the opposite direction of the relative loading and clamping part, so that the clamping effect on the arrow is good.

[0030] Further, in (2), the loading and clamping device clamps an arrow, specifically: the loading and clamping cylinder drives the loading and clamping hand to open, and the frame approaches the arrow. When the clamping sensor detects the arrow, the frame stops moving; then the loading and clamping cylinder drives the loading and clamping hand to clamp the arrow shaft of the arrow in the clamping area. The control method is simple by detecting the arrow by the clamping sensor to control the loading and clamping hand.

[0031] Furthermore, in (3), the loading and holding device is rotated 180°, and the direction of the arrow head of the arrow is consistent with the throwing direction of the throwing support cavity.

[0032] In the above method, the arrows are generally placed with the arrows pointing downward, and the arrows held by the loading and holding device are rotated 180°, so that the direction of the arrows is consistent with the throwing direction of the throwing support cavity.

[0033] Furthermore, two loading devices and two throwing devices are provided, one loading device corresponding to one throwing device; in (4), the two loading and clamping devices respectively place the arrows in the corresponding throwing support cavities.

[0034] Furthermore, in 3), the two loading and clamping devices rotate in opposite directions. When the two loading and clamping devices rotate, the tails of the two arrows first approach each other and then separate.

[0035] In the above method, since the space between the two bullet-loading clamping devices is limited and the rotation directions of the two bullet-loading clamping devices are opposite, when the two bullet-loading clamping devices rotate, the tails of the two arrows first approach each other and then separate. That is, during the rotation of the arrow, the tail is accommodated in the space between the two bullet-loading clamping devices; at the same time, because the bullet-loading clamping device clamps one end of the arrow shaft close to the tail, the distance between the tail and the bullet-loading clamping device is short, and the space occupied by the arrow in the space between the two bullet-loading clamping devices is small, thereby avoiding collision between the two arrows when rotating at the same time.

[0036] Furthermore, the bullet retrieval clamping device is provided with three; the bullet retrieval transverse movement device includes a transverse movement bracket, a transverse movement lower plate and a transverse movement driving device; the transverse movement bracket is slidably arranged on the transverse movement lower plate, and the transverse movement lower plate is fixed on the bullet retrieval bracket; the bullet retrieval transverse movement bracket is slidably arranged on the transverse movement bracket; the transverse movement driving device drives the bullet retrieval transverse movement bracket on the transverse movement bracket and the transverse movement bracket on the transverse movement lower plate to slide synchronously.

[0037] The transverse driving device includes a transverse driving motor, a first transverse transmission wheel, a second transverse transmission wheel, a transverse belt, a first transverse clamping device and a second transverse clamping device.

[0038] The first transverse transmission wheel is arranged at one end of the transverse bracket, and the second transverse transmission wheel is arranged at the other end of the transverse bracket; the output end of the transverse driving motor is connected to the first transverse transmission wheel; the transverse belt sleeve is arranged on the first transverse transmission wheel and the second transverse transmission wheel.

[0039] The first transverse clamping device is clamped on the transverse belt sleeve between the top end of the first transverse transmission wheel and the top end of the second transverse transmission wheel; the second transverse clamping device is clamped on the transverse belt sleeve between the bottom end of the first transverse transmission wheel and the bottom end of the second transverse transmission wheel.

[0040] According to the above arrangement, when the transverse driving motor rotates in one direction, the first transverse clamping device approaches the second transverse transmission wheel, and the first transverse clamping device drives the bullet retrieval transverse shifting bracket to move in the direction close to the second transverse transmission; and the second transverse clamping device approaches the first transverse transmission wheel, and since the transverse lower plate is fixed, this will drive the transverse shifting bracket to move in the direction close to the second transverse transmission wheel; and when the transverse driving motor rotates in the opposite direction, the bullet retrieval transverse shifting bracket and the transverse shifting bracket will both move in the direction close to the first transverse transmission wheel; in this way, the bullet retrieval transverse shifting bracket and the transverse shifting bracket move simultaneously in the same direction, and the bullet retrieval transverse shifting bracket moves on the basis of the movement of the transverse shifting bracket; the bullet retrieval transverse shifting bracket has a wide movement range.

[0041] Furthermore, in (1), one or more bullet-retrieving and clamping devices are alternately arranged with one or more bullet-loading and clamping devices, specifically: one bullet-retrieving and clamping device is arranged adjacent to another bullet-retrieving and clamping device, and another bullet-retrieving and clamping device, a bullet-loading and clamping device, another bullet-retrieving and clamping device and another clamping device are alternately arranged.

[0042] The above method avoids mutual interference between the loading and retrieving clamping device and the loading and retrieving clamping device when clamping arrows; the loading and retrieving clamping device and the loading and retrieving clamping device can clamp different arrows at the same time; thus, more arrows can be stored on the archery robot.

[0043] Furthermore, (9) is specifically as follows: if all the bullet-taking and clamping devices hold arrows, proceed to (9.1); if the arrows are both held by the second bullet-taking and clamping devices and the third bullet-taking and clamping devices, proceed to (9.2).

[0044] (9.1). The transverse driving device drives the bullet-taking transverse moving bracket and the transverse moving bracket to move simultaneously in the direction close to the second transverse driving wheel, so that another bullet-taking clamping device corresponds to a bullet-loading clamping device, and another bullet-taking clamping device corresponds to another bullet-loading clamping device.

[0045] (9.2) The transverse driving device drives the bullet-taking transverse moving bracket and the transverse moving bracket to move simultaneously in a direction close to the second transverse driving wheel, so that a bullet-taking clamping device corresponds to a bullet-loading clamping device or another bullet-loading clamping device.

[0046] According to the above method, when all the bullet-taking and clamping devices have arrows clamped, another bullet-taking and clamping device corresponds to one bullet-loading and clamping device, and another bullet-taking and clamping device corresponds to another bullet-loading and clamping device; arrows can be provided to two bullet-loading and clamping devices at the same time; at the same time, one bullet-taking and clamping device also clamps arrows, thereby further increasing the storage quantity of arrows; when arrows of another bullet-taking and clamping device and another bullet-taking and clamping device are clamped, one bullet-taking and clamping device provides arrows to one bullet-loading and clamping device or another bullet-loading and clamping device, and then provides arrows to one of the throwing devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a three-dimensional schematic diagram of an archery robot using the present invention.

[0048] Figure 2 It is a three-dimensional schematic diagram of a throwing device in an archery robot using the present invention.

[0049] Figure 3 for Figure 2 Enlarged view of a.

[0050] Figure 4 An exploded view of the throwing device in the archery robot using the present invention without the throwing rotation driving gear, the throwing rotation belt and the throwing rotation motor.

[0051] Figure 5 It is a three-dimensional schematic diagram of the bullet-filling device of the archery robot using the present invention.

[0052] Figure 6 The figure is an exploded view of the bullet-filling device of the archery robot using the present invention.

[0053] Figure 7 The present invention is an exploded view of the bullet-loading clamping device and the bullet-loading rotating driven gear in the archery robot using the present invention.

[0054] Figure 8 for Figure 7 Enlarged view of middle b.

[0055] Fig. 9 This is a schematic diagram of the archery robot using the present invention with the bullet-loading and clamping device opened.

[0056] Fig.10 It is a schematic diagram of clamping using the bullet-loading clamping device of the archery robot of the present invention.

[0057] Fig.11 It is a three-dimensional schematic diagram of the bullet-taking device of the archery robot using the present invention.

[0058] Fig.12 The figure is an exploded view of the bullet-retrieving device of the archery robot using the present invention.

[0059] Fig.13 The figure is an exploded view of the bullet-taking and lateral movement device of the archery robot using the present invention.

[0060] Fig.14 The figure is a schematic diagram showing the cooperation between the archery robot of the present invention and a rack on which arrows are placed.

[0061] Fig.15 It is a schematic diagram of clamping an arrow using the loading and clamping device of the archery robot of the present invention.

[0062] Fig.16 It is a schematic diagram of the archery robot after the bullet loading and clamping device of the present invention is rotated.

[0063] Fig.17 It is a schematic diagram of the bullet-loading and clamping device of the archery robot using the present invention swinging toward the throwing support cavity.

[0064] Fig.18 A schematic diagram of an arrow placed in a casting support cavity.

[0065] Fig.19 This is a front view of arrows placed on the rack.

[0066] Fig. 20 The figure is a schematic diagram of the movement of the bullet-taking lateral support of the archery robot using the present invention.

[0067] Fig.21 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0068] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0069] like Figure 1-20As shown; a material throwing method, using an archery robot to throw arrows. The archery robot includes a frame 1, on which a bullet taking device 2, one or more throwing devices 3 and one or more bullet loading devices 4 are provided, the throwing device 3 is arranged above the bullet loading device 4, and the bullet loading device 4 is arranged above the bullet taking device 2. In this embodiment, two throwing devices 3 and two bullet loading devices 4 are provided; one bullet loading device 4 corresponds to one throwing device 3.

[0070] The throwing device 3 includes a throwing rotating device 31, a throwing driving device 32, a throwing swing bracket 33 and a throwing supporting bracket 34; the throwing rotating device 31 is installed on the frame 1, the throwing supporting bracket 34 is installed on the throwing rotating device 31, and the throwing swing bracket 33 is movably arranged on the throwing supporting bracket 34; the throwing driving device 32 is connected to the throwing swing bracket 33 and drives one end of the throwing swing bracket 33 to approach or move away from the throwing supporting bracket 34; along the swinging direction of the throwing swing bracket 33, the bullet loading device 4 is arranged between the throwing device 3 and the bullet taking device 2. The throwing rotating device 31 drives the throwing driving device 32, the throwing swing bracket 33 and the throwing supporting bracket 34 to rotate synchronously. In this way, the throwing direction of the throwing supporting cavity 36 can be changed; the throwing range of the throwing device 3 is large.

[0071] In this embodiment, a support frame 35 is provided on the casting support bracket 34 , and the support frame 35 supports the casting swing bracket 33 and limits the swing amplitude of the casting swing bracket 33 toward the casting support bracket 34 .

[0072] like Figure 3 As shown, the casting swing bracket 33 includes a first supporting member 331, and the casting supporting bracket 34 includes a second supporting member 341; the second supporting member 341 is located between the first supporting member 331 and the bullet-loading device 4; the first supporting member 331 and the second supporting member 341 are respectively provided with an inclined casting supporting cavity 36; the height of the casting supporting cavity 36 close to the bullet-loading device 4 is lower than the height of the casting supporting cavity 36 away from the bullet-loading device 4; the casting supporting cavity 36 is used to support the arrow 5, and the first supporting member 331 limits the arrow 5. Fig.18 and 19 As shown, the arrow 5 includes an arrowhead 51, an arrow shaft 52 and a tail 53; the ends of the arrow shaft 52 are respectively connected to the arrowhead 51 and the tail 53; the cross-sectional size of the arrowhead 51 is larger than the cross-sectional size of the arrow shaft 52; and the size of the casting support cavity 36 matches the size of the arrow shaft 52, and the top end of the casting support cavity 36 limits the arrow 5 to prevent the arrow 5 from escaping from the casting support cavity 36 under the action of gravity.

[0073] like Figure 5As shown, the loading device 4 includes a loading swing driving device 41, a loading swing bracket 42, a loading rotation device 43 and a loading clamping device 44; the loading clamping device 44 is used to clamp the arrow 5. The loading swing driving device 41 is fixed to the frame 1 through the loading fixed bracket, and the output end of the loading swing driving device 41 is connected to the loading swing bracket 42; the loading rotation device 43 is fixed to the loading swing bracket 42, and the loading clamping device 44 is rotatably arranged on the loading swing bracket 42; the output end of the loading rotation device 43 is connected to the loading clamping device 44; the loading clamping device 44 is used to clamp the arrow body to be launched, and the loading rotation device 43 is used to drive the loading clamping device 44 to rotate.

[0074] A swingable loading and clamping device 44 is provided, and a loading and clamping swinging driving device 41 drives the loading and clamping device 44 to place the clamped arrow 5 on the throwing supporting cavity 36, and the throwing supporting cavity 36 limits the arrow 5; the arrow 5 placed on the throwing supporting cavity 36 is not affected by gravity and is separated from the throwing supporting cavity 36; in this way, the loading of the arrow 5 is achieved; the operation of loading the arrow 5 is simple; the throwing driving device 32 drives the throwing swinging bracket 33 away from the throwing supporting bracket 34, and the first supporting member 331 drives the arrow 5 to separate from the throwing supporting cavity 36 and throw the arrow 5.

[0075] The bullet-loading clamping device 44 is connected to the bullet-loading rotating device 43, and the bullet-loading rotating device 43 is used to drive the bullet-loading clamping device 44 to rotate. When the bullet-loading clamping device 44 can clamp arrows 5 with different arrow directions, the bullet-loading rotating device 43 drives the bullet-loading clamping device 44 to rotate, so that the arrow direction of the arrow 5 can be adjusted, so that the arrow direction of the arrow 5 is consistent with the casting direction of the casting swing bracket 33, and then the arrow 5 placed on the casting support cavity 36 can be cast. At the same time, the bullet-loading rotating device 43 drives the bullet-loading clamping device 44, so that the clamping direction of the bullet-loading clamping device 44 can be changed, and the clamping direction of the bullet-loading clamping device 44 is kept perpendicular to the arrow 5, so that the bullet-loading clamping device 44 can clamp arrows 5 with different placement angles.

[0076] Together Fig.11As shown, the bullet taking device 2 is used to provide arrows 5 for the bullet loading and clamping device 44; the bullet taking device 2 includes a bullet taking lateral movement device 21, a bullet taking lateral movement bracket 22 and one or more bullet taking and clamping devices 23; the bullet taking and clamping devices 23 are used to clamp the arrows 5. In this embodiment, three bullet taking and clamping devices 23 are provided; the bullet taking lateral movement device 21 is arranged on the frame 1, the output end of the bullet taking lateral movement device 21 is connected to the bullet taking lateral movement bracket 22, and one or more bullet taking and clamping devices 23 are arranged on the bullet taking lateral movement bracket 22; the bullet taking lateral movement device 21 drives the bullet taking and clamping devices 23 to move in a direction perpendicular to the swing direction of the casting swing bracket 33; the bullet loading swing driving device 41 is used to drive the bullet loading and clamping device 44 to swing between the casting support cavity 36 and the bullet taking and clamping device 23.

[0077] By setting up the bullet taking device 2, the arrow 5 is clamped by the bullet loading and holding device 44 and the bullet taking and holding device 23 at the same time; when the bullet loading and holding device 44 places the clamped arrow 5 into the throwing support cavity 36 and is thrown out; the bullet loading and holding device 44 clamps the arrow 5 clamped by the bullet taking and holding device 23 and provides it to the throwing support cavity 36; in this way, the arrow 5 is stored, and the throwing device 3 can throw arrows 5 multiple times. Since the throwing device 3 and the bullet loading device 4 are both provided with more than two, by setting up the bullet taking and holding device 21, the bullet taking and holding device 21 drives the bullet taking and holding device 23 to move, so that the arrow 5 can be provided for the bullet loading device 4.

[0078] In another embodiment, the bullet-taking device 2 further comprises a bullet-taking bracket 24; the bullet-taking bracket 24 is fixed on the frame 1, and the horizontal height of the side of the bullet-taking bracket 24 close to the bullet-loading device 4 is higher than the horizontal height of the side of the bullet-taking bracket 24 away from the bullet-loading device 4; the bullet-taking lateral movement device 21 is arranged on the bullet-taking bracket 24. Fig.14 and 19 As shown; the arrows 5 are placed on the rack; the arrows 5 are generally placed with the arrow pointing downward, and in order to prevent the arrows 5 from tipping over, the arrows 5 are tilted on the rack; by setting an inclined bullet retrieval support plate, the bullet retrieval bracket 24 is also tilted, and then the bullet retrieval clamping device 23 installed on the bullet retrieval bracket 24 is also tilted; in this way, the coordination effect between the inclined bullet retrieval clamping device 23 and the tilted arrows 5 is good.

[0079] like Figure 2-4 As shown, the throwing rotating device 31 includes a throwing rotating bearing 311, a throwing rotating driven gear 312, a throwing rotating driving gear 313, a throwing rotating belt 314 and a throwing rotating motor 315. In this embodiment, the throwing driving device 32, the throwing swing bracket 33 and the throwing supporting bracket 34 rotate along the circumferential direction of the throwing rotating bearing 311.

[0080] The inner ring of the throwing rotation bearing 311 and the throwing rotation motor 315 are both fixed on the frame 1, the outer ring of the throwing rotation bearing 311 is connected to one side of the throwing rotation driven gear 312, and the throwing rotation motor 315 is connected to the throwing rotation driving gear 313; the throwing rotation leather cover is arranged on the throwing rotation driven gear 312 and the throwing rotation driving gear 313; the throwing support bracket 34 is fixed on the other side of the throwing rotation driven gear 312; the throwing rotation motor 315 drives the throwing support cavity 36 to rotate.

[0081] The casting support bracket 34 is fixed on the casting rotating device 31, and the casting swing bracket 33 is arranged on the casting support bracket 34; the casting swing bracket 33 and the casting support bracket 34 are driven to rotate simultaneously through the casting rotating device 31, thereby driving the rotation of the casting support cavity 36, and at the same time, the casting rotation driving gear 313 rotates and then the casting rotation driven gear 312 is driven to rotate through the casting rotation belt 314, the rotating driven gear 312 is fixedly connected to the outer ring of the casting rotation bearing 311, and the inner ring of the casting rotation bearing 311 is fixed on the frame 1, so that the casting device 3 is driven to rotate, and the casting device 3 is rotated by the cooperation of the casting rotation bearing 311, the casting rotation driven gear 312, the casting rotation driving gear 313, the casting rotation belt 314 and the casting rotation motor 315, and the structure is simple.

[0082] In another embodiment, the casting rotation device 31 further includes an annular casting rotation upper limit plate 316 and a casting rotation lower limit plate 317; one side of the casting rotation driven gear 312 is connected to the outer ring of the casting rotation bearing 311 through the casting rotation lower limit plate 317; the casting support bracket 34 is connected to the other side of the casting rotation driven gear 312 through the casting rotation upper limit plate 316; the outer peripheral edges of the casting rotation upper limit plate 316 and the casting rotation lower limit plate 317 are both protruding outward relative to the casting rotation driven gear 312. By setting the casting rotation upper limit plate 316 and the casting rotation lower limit plate 317, the casting rotation upper limit plate 316 and the casting rotation lower limit plate 317, which are both protruding outward relative to the casting rotation driven gear 312, limit the casting rotation belt 314 by the casting rotation upper limit plate 316 and the casting rotation lower limit plate 317, so that the casting rotation belt 314 will not be separated from the casting rotation driven gear 312 when rotating; thus, the transmission reliability is high.

[0083] The throwing rotating device 31 also includes a tensioning structure; the tensioning structure is arranged between the throwing rotating driven gear 312 and the throwing rotating driving gear 313; the tensioning structure includes a tensioning bracket 318, and the tensioning bracket 318 is fixed on the frame 1; a tensioning wheel 319 is arranged on the tensioning bracket 318; a tensioning area is formed between the tensioning bracket 318 and the tensioning wheel 319; the throwing rotating belt 314 passes through the tensioning area and is sleeved on the throwing rotating driven gear 312 and the throwing rotating driving gear 313. The tensioning structure is used to tension and limit the belt between the throwing rotating driven gear 312 and the throwing rotating driving gear 313, so that the throwing rotating driven gear 312 and the throwing rotating driving gear 313 drive more reliably and effectively.

[0084] like Figure 6 As shown, a first bullet-filling swing plate 421 is provided at one end of the bullet-filling swing bracket 42, and a second bullet-filling swing plate 422 is provided at the other end of the bullet-filling swing bracket 42; the first bullet-filling swing plate 421 and the second bullet-filling swing plate 422 are arranged in parallel; a first swing opening 423 is provided on the first bullet-filling swing plate 421; a second swing opening 424 is provided on the second bullet-filling swing plate 422; the first swing opening 423 and the second swing opening 424 are arranged coaxially with the center of the circle.

[0085] The bullet-loading clamping device 44 is rotatably connected to the first swing opening 423 via a first bullet-loading rotating bearing 451 ; the bullet-loading clamping device 44 is rotatably connected to the second swing opening 424 via a second bullet-loading rotating bearing 452 .

[0086] like Figure 6-8 As shown, the bullet-loading rotating device 43 includes a bullet-loading rotating motor 431, a bullet-loading rotating driving gear 432, and a bullet-loading rotating driven gear 433; the bullet-loading rotating motor 431 is fixed on the bullet-loading swing bracket 42, and the output end of the bullet-loading rotating motor 431 is connected to the bullet-loading rotating driving gear 432; the bullet-loading clamping device 44 is arranged on the bullet-loading rotating driven gear 433 and is fixedly connected to the bullet-loading rotating driven gear 433, and a bullet-loading through hole 4331 is provided on the bullet-loading rotating driven gear 433; the bullet-loading clamping device 44 is arranged on the bullet-loading through hole 4331 and is fixedly connected to the bullet-loading rotating driven gear 433; the bullet-loading rotating driving gear 432 is meshed with the bullet-loading rotating driven gear 433. Since the bullet-loading clamping device 44 is rotatably arranged on the bullet-loading swing bracket 42, the bullet-loading rotating motor 431 drives the bullet-loading clamping device 44 to rotate along the axis of the first swing opening 423 and the second swing opening 424.

[0087] The loading and clamping device 44 is inserted into and meshed with the loading and rotating driven gear 433; the loading and rotating driving gear 432 is meshed with the loading and rotating driven gear 433; the loading and clamping device 44 is driven to rotate by the loading and rotating motor 431, so that the volume of the loading and rotating device 43 can be reduced.

[0088] The bullet loading and holding device 44 comprises a bullet loading and holding cylinder 441, a bullet loading and holding hand 443 and a fastening assembly 442. The bullet loading and holding cylinder 441 is penetrated through the bullet loading connection hole and fixedly connected to the bullet loading rotation driven gear 433.

[0089] like Figure 6 , 7 As shown, there are two groups of fastening assemblies 442, and the two fastening assemblies 442 are arranged opposite to each other; one group of fastening assemblies 442 is arranged on one side of the loading and clamping cylinder 441, and the other group of fastening assemblies 442 is arranged on the other side of the loading and clamping cylinder 441; each group of fastening assemblies includes a first fastener 4421 and a second fastener 4422.

[0090] The first fastener 4421 includes a first fastening portion 4423, which is connected to the side of the bullet-loading clamping cylinder 441, and a first bullet-loading rotating bearing 451 is sleeved on the surfaces of the two first fastening portions 4423 and is arranged in the first swinging opening 423; a second fastening portion 4424 is arranged at the top of the first fastening portion 4423; the second fastening portion 4424 is arranged vertically with the first fastening portion 4423 and extends outside the first swinging opening 423; the second fastening portion 4424 is overlapped on the first bullet-loading swinging plate 421; the second fastener 4422 is connected to the first fastening portion 4423, and the second fastener 4422 fixes the first bullet-loading rotating bearing 451 between the second fastening portion 4424 and the second fastener 4422. The bullet-loading clamping cylinder 441 is penetrated on the bullet-loading connecting hole, and the bullet-loading rotating driven gear 433 is connected to the bottom end of the first fastening portion 4423.

[0091] A third fastening member 4425 is provided on the top of one of the second fastening portions 4424 , and a clamping sensor 46 is provided on the third fastening member 4425 . The clamping sensor 46 is used to detect the arrow 5 .

[0092] When the clamping sensor 46 detects the arrow, the loader clamps the arrow 5 .

[0093] The first bullet-loading rotating bearing 451 is clamped by providing the second fastening portion 4424 and the second fastening member 4422, and the second fastening portion 4424 is overlapped on the first bullet-loading swinging plate 421 to prevent the first bullet-loading rotating bearing 451 from being separated from the first swinging opening 423, so that the reliability of the bullet-loading clamping device 44 rotating on the bullet-loading swinging bracket 42 is high; at the same time, the bottom of the first fastening portion 4423 is also connected to the bullet-loading rotating driven gear 433, so that the bullet-loading rotating driven gear 433 and the bullet-loading clamping cylinder 441 are relatively fixed. The structure of the fastening assembly 442 is provided to limit the first bullet-loading rotating bearing 451 and fix the bullet-loading rotating driven gear 433 at the same time; the structure is simple.

[0094] like Figure 8 As shown, the loading clamp hand 443 includes two loading clamping pieces 4431; one loading clamping piece 4431 is connected to one output end of the loading clamping cylinder 441, and the other loading clamping piece 4431 is connected to the other output end of the loading clamping cylinder 441; each loading clamping piece 4431 includes more than two loading clamping parts 4432; the loading clamping part 4432 connected to one output end of the loading clamping cylinder 441 and the loading clamping part 4432 connected to the other output end of the loading clamping cylinder 441 are alternately arranged.

[0095] The bullet-loading clamping portion 4432 includes a first clamping portion 4433 , on which an arc-shaped second clamping portion 4434 extends, and a clamping area 4435 is formed between the second clamping portion 4434 and the first clamping portion 4433 ; the clamping areas 4435 of adjacent bullet-loading clamping portions 4432 are stacked.

[0096] The loading and clamping cylinder 441 drives the loading and clamping hand 443 to clamp or open, thereby clamping or removing the arrow 5; the adjacent clamping areas 4435 are stacked to extend the clamping length of the loading and clamping hand 443, so as to better clamp the arrow 5; at the same time, the loading and clamping parts 4432 connected to the two output ends of the loading and clamping cylinder 441 are alternately arranged, and the loading and clamping part 4432 at one output end of the loading and clamping cylinder 441 swings in one direction, and the loading and clamping part 4432 at the other output end of the loading and clamping cylinder 441 swings in the opposite direction of the relative loading and clamping part 4432, so that the clamping effect on the arrow 5 is good.

[0097] In this embodiment, a protrusion 4436 extends from a clamping area 4435 at one end of the second clamping portion 4434 away from the first clamping portion 4433. The protrusion 4436 reduces the space of the clamping area 4435, thereby further improving the clamping of the arrow 5.

[0098] like Fig.11As shown, the ammunition taking and clamping device 23 includes an ammunition taking and clamping cylinder and an ammunition taking and clamping hand. In this embodiment, the ammunition taking and clamping cylinder has the same structure as the ammunition loading and clamping cylinder 441; the ammunition taking and clamping hand has the same structure as the ammunition loading and clamping hand 443; and a clamping sensor 46 is provided on the ammunition taking and clamping cylinder. When the clamping sensor 46 on the ammunition taking and clamping cylinder detects an arrow, the ammunition taking and clamping hand clamps the arrow.

[0099] In this embodiment, the bullet retrieval transverse movement device 21 includes a transverse movement bracket 211, a transverse movement lower plate 212 and a transverse movement driving device 213; the transverse movement bracket 211 is slidably set on the transverse movement lower plate 212, and the transverse movement lower plate 212 is fixed on the bullet retrieval bracket 24; the bullet retrieval transverse movement bracket 22 is slidably set on the transverse movement bracket 211; the transverse movement driving device 213 drives the bullet retrieval transverse movement bracket 22 to slide synchronously on the transverse movement bracket 211 and the transverse movement bracket 211 on the transverse movement lower plate 212.

[0100] The transverse driving device 213 includes a transverse driving motor 2131 , a first transverse transmission wheel 2132 , a second transverse transmission wheel 2133 , a transverse belt 2134 , a first transverse clamping device 2135 and a second transverse clamping device 2136 .

[0101] like Fig.13 As shown, the transverse moving bracket 211 includes a transverse moving bracket 1 2111, a transverse moving bracket 2112 and a transverse moving bracket 3 2113; the transverse moving bracket 1 2111 is arranged on one side of the transverse moving bracket 3 2113, and the transverse moving bracket 2112 is arranged on the other side of the transverse moving bracket 3 2113; the first transverse moving transmission wheel 2132 is arranged at one end of the transverse moving bracket 3 2113, the transverse moving drive motor 2131 is fixed on the transverse moving bracket 1 2111, and the output end of the transverse moving drive motor 2131 passes through the transverse moving bracket 1 2111, the first transverse moving transmission wheel 2132 and the transverse moving bracket 2 2112 and is rotatably connected to the first transverse moving transmission wheel 2132.

[0102] The second transverse transmission wheel 2133 is arranged at the other end of the transverse bracket three 2113; a positioning pin 25 is provided at the end of the transverse bracket two 2112 away from the transverse drive motor 2131; the positioning pin 25 passes through the transverse bracket two 2112, the second transverse transmission wheel 2133 and the transverse bracket one 2111 and is rotatably connected to the second transverse transmission wheel 2133; the transverse belt 2134 is sleeved on the first transverse transmission wheel 2132, the transverse bracket three 2113 and the second transverse transmission wheel 2133.

[0103] The first transverse clamping device 2135 is clamped on the transverse belt 2134 above the transverse bracket 2113 and is fixedly connected to the bullet-taking transverse bracket 22; the second transverse clamping device 2136 is clamped on the transverse belt 2134 below the transverse bracket 2113 and is fixedly connected to the transverse lower plate 212. The bullet-taking transverse device 21 also includes a first transverse sliding member and a second transverse sliding member; the first transverse sliding member includes a first transverse sliding rail 214 and a first transverse sliding block 215; the first transverse sliding rail 214 is arranged at the top end of the transverse bracket 2113, the first transverse sliding block 215 is slidably arranged on the first transverse sliding rail 214, and the top end of the first transverse sliding block 215 is fixedly connected to the bullet-taking transverse bracket 22.

[0104] The second transverse sliding member includes two second transverse sliding rails 216 and four second transverse sliding blocks 217 ; one second transverse sliding rail 216 is arranged on one side of the transverse lower plate 212 ; and the other second transverse sliding rail 216 is arranged on the other side of the transverse lower plate 212 .

[0105] Two second transverse sliders 217 are slidably set on a second transverse slide rail 216, and the top of the second transverse slider 217 is fixedly connected to the transverse bracket 2111; the other two second transverse sliders 217 are slidably set on another second transverse slide rail 216, and the top of the second transverse slider 217 is fixedly connected to the transverse bracket 2112.

[0106] Since the lower transverse plate 212 is fixed on the bullet taking bracket 24, the bullet taking transverse moving bracket 22 is slidably connected with the transverse moving bracket 211, and the transverse moving bracket 211 is slidably connected with the lower transverse plate 212; and the upper end of the transverse belt 2134 is fixedly connected to the bullet taking transverse moving bracket 22 through the first transverse moving clamping device 2135, and the lower end of the transverse belt 2134 is fixedly connected to the lower transverse moving plate 212 through the second transverse moving clamping device 2136; in this way, when the transverse driving motor 2131 rotates in one direction, the first transverse moving clamping device 2135 approaches the second transverse driving wheel 2133, and the first transverse moving clamping device 2135 drives the bullet taking transverse moving bracket 22 to approach the second transverse moving transmission wheel 2133. The second transverse moving clamping device 2136 approaches the first transverse moving transmission wheel 2132, and since the transverse moving lower plate 212 is fixed on the frame body 1, this will drive the transverse moving bracket to move in the direction close to the second transverse moving transmission wheel 2133; and when the transverse moving drive motor 2131 rotates in the opposite direction, the bullet retrieval transverse moving bracket 22 and the transverse moving bracket 211 will both move in the direction close to the first transverse moving transmission wheel 2132; in this way, the bullet retrieval transverse moving bracket 22 and the transverse moving bracket move in the same direction at the same time, and the bullet retrieval transverse moving bracket moves on the basis of the movement of the transverse moving bracket; thereby, the bullet retrieval transverse moving bracket 22 has a wide movement range.

[0107] In this implementation, if Figure 2 and3 As shown, a supporting portion 332 is provided on the first supporting member 331, and the supporting portion 332 is a structure that is recessed inward from the surface of the first supporting member 331; the supporting portion 332 is used to fit the arrow head of the arrow 5 and support the arrow 5. The arrow 51 head is pressed tightly against the supporting portion 332, and the arrow head 51 of the arrow 5 is supported by the supporting portion 332, so that the arrow 5 can be placed in the casting support cavity 36 more stably.

[0108] In this embodiment, the length of the loading device is greater than that of the retrieving device. When the loading device and the retrieving device are arranged in parallel, the loading clamping device extends out of the retrieving clamping device. In this way, the arrow clamped by the loading clamping device is also parallel to the arrow clamped by the retrieving clamping device. When the loading rotating device drives the loading device to rotate, the arrow clamped by the loading device will not collide with the arrow clamped by the retrieving device. The archery robot also includes a moving device, which is arranged on the frame 1. The moving device is used to drive the frame 1 to move. The frame 1 is driven to move by the moving device, so that the frame 1 approaches the projection target. The moving device includes three groups of moving wheels, and each group of moving wheels is driven by an independent motor.

[0109] like Fig.21 As shown, the material throwing method includes the following steps:

[0110] (1) The bullet taking and lateral movement device 21 drives the bullet taking and lateral movement bracket to move, and one or more bullet taking and clamping devices 23 and one or more bullet loading and clamping devices 44 are alternately arranged. The bullet loading and swinging driving device drives the bullet loading and clamping device 44 to approach the bullet taking device and be arranged parallel to the bullet taking and clamping device 23.

[0111] (2) A loading and holding device 44 holds an arrow at one end of the arrow shaft near the tail of the arrow; a removing and holding device 23 holds another arrow at one end of the arrow shaft near the arrow head.

[0112] (3) The loading and rotating device drives the loading and holding device 44 to rotate, and the loading and holding device 44 drives the arrow to rotate, so that the direction of the arrow head of the arrow is consistent with the throwing direction of the throwing support cavity.

[0113] (4) The loading and swinging driving device drives the loading and clamping device 44 to approach the casting support cavity. When the arrow contacts the first support member, the loading and clamping device 44 releases its clamping of the arrow. Under the action of gravity, the arrow shaft slides into the casting support cavity, and the casting support cavity limits the arrow head.

[0114] (5) The loading and swinging driving device drives the loading and clamping device 44 away from the throwing and supporting cavity.

[0115] (6) Determine whether the projection target is consistent with the projection direction of the projection support cavity. If yes, proceed to (8); if no, proceed to (7). In this embodiment, it is manually determined whether the projection target is consistent with the projection direction of the projection support cavity.

[0116] (7) The casting rotation device drives the casting swing bracket and the casting support bracket to rotate so that the projection target is consistent with the casting direction of the casting support cavity. If the casting direction of the casting support cavity is to the left of the projection target, the casting swing bracket and the casting support bracket are driven to rotate to the right; if the casting direction of the casting support cavity is to the right of the projection target, the casting swing bracket and the casting support bracket are driven to rotate to the left.

[0117] (8) The throwing drive device drives the throwing swing bracket to swing in a direction away from the throwing support bracket, and the first support member pushes the arrow to be thrown.

[0118] (9) The bullet taking and lateral movement device 21 drives the bullet taking and lateral movement bracket to move, so that a bullet taking and clamping device 23 holding an arrow is aligned with the position 44 of the bullet loading and clamping device.

[0119] (10) The loading rotation device drives the loading clamping device to reset, and the loading swing driving device drives the loading clamping device to approach the retrieval clamping device and be arranged parallel to the retrieval clamping device.

[0120] (11) The loading and holding device clamps the arrow on the removing and holding device, and clamps it at the end of the arrow shaft close to the tail of the arrow; the removing and holding device 23 releases its clamping of the arrow.

[0121] (12) Repeat (3) to (11) until all arrows on the archery robot have been thrown.

[0122] The above method simultaneously clamps different arrows through the bullet retrieval clamping device and the bullet filling clamping device, firstly provides arrows for the casting support cavity through the bullet retrieval clamping device, and when the arrow clamped by the bullet retrieval clamping device is projected, the bullet retrieval clamping device then clamps the arrow clamped by the bullet filling clamping device and continues to provide arrows for the casting support cavity; in this way, multiple casting of arrows can be realized; at the same time, before the bullet retrieval clamping device and the bullet filling clamping device clamp the arrow, the bullet retrieval transverse moving bracket moves, so that the bullet retrieval clamping device and the bullet filling clamping device are alternately arranged; in this way, the situation that the bullet retrieval clamping device and the bullet filling clamping device clamp the same arrow is avoided.

[0123] The arrow can be thrown only when the direction of the arrow head is consistent with the throwing direction of the throwing supporting cavity; the loading and clamping device clamps the end of the arrow shaft close to the arrow tail, and will not interfere with the cooperation between the arrow shaft and the throwing supporting cavity; then the loading and clamping device is rotated to make the direction of the arrow head of the arrow be consistent with the throwing direction of the throwing supporting cavity, so that the arrow shaft of the arrow is aligned with the throwing supporting cavity; then the loading and clamping device releases the clamping of the arrow, and the arrow naturally slides into the throwing supporting cavity, and then the arrow shaft is accommodated in the throwing supporting cavity. At the same time, since the size of the arrow head is larger than the size of the arrow shaft, the size of the arrow shaft matches the size of the throwing supporting cavity, and the arrow is limited by the first supporting member to prevent the arrow from escaping from the throwing supporting cavity; then the throwing swing bracket swings to throw the arrow.

[0124] In the above method,

[0125] In step (1), the bullet taking transverse movement device drives the bullet taking transverse movement bracket to move, and more than one bullet taking clamping device and more than one bullet loading clamping device are arranged alternately, specifically: the transverse movement driving device drives the bullet taking transverse movement bracket and the transverse movement bracket to move simultaneously in the direction close to the first transverse movement transmission wheel; so that one bullet taking clamping device is arranged adjacent to another bullet taking clamping device, and another bullet taking clamping device, a loading clamping device, another bullet taking clamping device and another clamping device are arranged alternately; in this way, the loading clamping device and the bullet taking clamping device are prevented from interfering with each other when clamping arrows; the loading clamping device and the bullet taking clamping device can clamp different arrows at the same time; thereby, more arrows can be stored on the archery robot.

[0126] In step (2), the loading and clamping device clamps an arrow, specifically: the loading and clamping cylinder drives the loading and clamping hand to open, and the frame approaches the arrow. When the clamping sensor detects the arrow, the frame stops moving; then the loading and clamping cylinder drives the loading and clamping hand to clamp the arrow shaft in the clamping area. The control method is simple and the clamping accuracy is good by detecting the arrow by the clamping sensor.

[0127] In step (3), the bullet-loading rotating device drives the bullet-loading clamping device to rotate, specifically: the bullet-loading rotating motor drives the bullet-loading clamping device to rotate around the center of the first swing opening and the second swing opening. The bullet-loading clamping device drives the arrow to rotate so that the direction of the arrow head of the arrow is consistent with the throwing direction of the throwing support cavity, specifically: in this embodiment, the arrow is placed with the arrow head facing downward, and after the bullet-loading clamping device clamps the arrow, the bullet-loading rotating device drives the bullet-loading clamping device to rotate 180°. In this embodiment, the rotation directions of the two bullet-loading clamping devices 44 are opposite. When the two bullet-loading clamping devices 44 rotate, the tails of the two arrows first approach and then separate. Due to the limited space between the two bullet-loading clamping devices, the rotation directions of the two bullet-loading clamping devices are opposite. When the two bullet-loading clamping devices rotate, the tails of the two arrows first approach and then separate. That is, during the rotation of the arrow, the tail of the arrow is accommodated in the space between the two loading and clamping devices; at the same time, because the loading and clamping device clamps the end of the arrow shaft close to the tail of the arrow, the distance between the tail of the arrow and the loading and clamping device is short, and the arrow occupies a small space in the space between the two loading and clamping devices, thereby avoiding collision between the two arrows when they rotate at the same time. Fig. 20 The loading and clamping device on the left side rotates clockwise, and the loading and clamping device on the right side rotates counterclockwise; because the loading and clamping device is clamped at the end of the arrow shaft close to the tail, this avoids collision when the two arrows rotate at the same time.

[0128] In step (4), the two loading and clamping devices respectively place the arrows in the corresponding casting support cavities. If the two loading and clamping devices place the arrows in the corresponding casting support cavities one after another, the two arrows can be cast at the same casting target continuously; if the two loading and clamping devices place the arrows in the corresponding casting support cavities at the same time, the two arrows can be cast at the same casting target simultaneously.

[0129] In step (6), it is determined whether the projection target is consistent with the projection direction of the projection support cavity, specifically: manually observing whether the projection target is consistent with the projection direction of the projection support cavity.

[0130] Step (9) is specifically as follows: if all the bullet-taking and clamping devices hold arrows, proceed to (9.1); if arrows are both held by another bullet-taking and clamping device and another bullet-taking and clamping device, proceed to (9.2).

[0131] Step (9.1). The transverse driving device drives the bullet-taking transverse moving bracket and the transverse moving bracket to move simultaneously in a direction close to the second transverse driving wheel, so that another bullet-taking clamping device corresponds to a bullet-loading clamping device, and another bullet-taking clamping device corresponds to another bullet-loading clamping device.

[0132] Step (9.2). The transverse drive device drives the bullet-taking transverse drive bracket and the transverse drive bracket to move simultaneously in a direction close to the second transverse drive wheel, so that a bullet-taking clamping device corresponds to a bullet-loading clamping device or another bullet-loading clamping device.

[0133] When all the bullet taking and clamping devices have arrows clamped, another bullet taking and clamping device corresponds to one bullet loading and clamping device, and another bullet taking and clamping device corresponds to another bullet loading and clamping device; arrows can be provided to the two bullet loading and clamping devices at the same time; at the same time, one bullet taking and clamping device also clamps arrows, which further increases the storage quantity of arrows; when arrows of another bullet taking and clamping device and another bullet taking and clamping device are clamped, one bullet taking and clamping device provides arrows to one bullet loading and clamping device or another bullet loading and clamping device, and then provides arrows to one of the throwing devices.

Claims

1. A material throwing method, wherein an archery robot throws an arrow, wherein the arrow comprises an arrowhead, an arrow shaft and an arrow tail, wherein the arrow shaft connects the arrowhead and the arrow tail, and the cross section of the arrowhead is larger than the cross section of the arrow shaft. The archery robot comprises a frame, wherein a bullet taking device, one or more throwing devices and one or more bullet loading devices are arranged on the frame, wherein: The throwing device is arranged above the bullet-loading device, and the bullet-loading device is arranged above the bullet-removing device; the length of the bullet-loading device is greater than the length of the bullet-removing device; The throwing device includes a throwing rotating device, a throwing driving device, a throwing swing bracket and a throwing supporting bracket; the throwing rotating device is installed on the frame, the throwing supporting bracket is installed on the throwing rotating device, and the throwing swing bracket is movably arranged on the throwing supporting bracket; the throwing driving device is connected to the throwing swing bracket and drives one end of the throwing swing bracket to approach or move away from the throwing supporting bracket; Along the swinging direction of the throwing swing bracket, the bullet loading device is arranged between the throwing device and the bullet taking device; the throwing rotating device is used to drive the throwing driving device, the throwing swing bracket and the throwing supporting bracket to rotate; The casting swing bracket includes a first supporting member, and the casting supporting bracket includes a second supporting member; the second supporting member is located between the first supporting member and the bullet-filling device; the first supporting member and the second supporting member form an inclined casting supporting cavity; the casting supporting cavity is used to support the arrow and limit the arrow head; The loading device comprises a loading swing driving device, a loading swing bracket, a loading rotating device and a loading clamping device; the loading swing driving device is fixed on the frame, and the output end of the loading swing driving device is connected to the loading swing bracket; the loading rotating device is fixed on the loading swing bracket, and the output end of the loading rotating device is connected to the loading clamping device; the loading clamping device is used to clamp the arrow body to be launched, and the loading rotating device is used to drive the loading clamping device to rotate; The bullet taking device comprises a bullet taking lateral movement device, a bullet taking lateral movement bracket and one or more bullet taking clamping devices; the bullet taking lateral movement device is arranged on the frame, the output end of the bullet taking lateral movement device is connected to the bullet taking lateral movement bracket, and one or more bullet taking clamping devices are arranged on the bullet taking lateral movement bracket; the bullet taking lateral movement device drives the bullet taking clamping device to move in a direction perpendicular to the swing direction of the casting swing bracket; the bullet loading swing driving device is used to drive the bullet loading clamping device to swing between the casting support cavity and the bullet taking clamping device; The material throwing method comprises the following steps: (1) The bullet taking and lateral movement device drives the bullet taking and lateral movement bracket to move, and one or more bullet taking and clamping devices and one or more bullet loading and clamping devices are arranged alternately; the bullet loading and swinging driving device drives the bullet loading and clamping device to approach the bullet taking device and be arranged parallel to the bullet taking and clamping device; (2) A loading and holding device holds an arrow at one end of the arrow shaft near the tail; a removing and holding device holds another arrow at one end of the arrow shaft near the arrow head; (3) The loading and rotating device drives the loading and holding device to rotate, and the loading and holding device drives the arrow to rotate, so that the direction of the arrow head of the arrow is consistent with the throwing direction of the throwing support cavity; (4) The loading swing drive device drives the loading clamping device to approach the casting support cavity. When the arrow contacts the first support member, the loading clamping device releases the clamping of the arrow. Under the action of gravity, the arrow shaft slides into the casting support cavity, and the casting support cavity limits the arrow head. (5) The loading swing drive device drives the loading clamping device away from the throwing support cavity; (6) Determine whether the projection target is consistent with the projection direction of the projection support cavity. If so, proceed to (8); if not, proceed to (7); (7) The projection rotating device drives the projection swing bracket and the projection supporting bracket to rotate so that the projection target is consistent with the projection direction of the projection supporting cavity; (8) The throwing drive device drives the throwing swing bracket to swing away from the throwing support bracket, and the first support member pushes the arrow to be thrown; (9) The bullet taking and lateral movement device drives the bullet taking and lateral movement bracket to move so that a bullet taking and holding device holding an arrow support corresponds to a bullet loading and holding device; (10) The loading rotation device drives the loading clamping device to reset, and the loading swing driving device drives the loading clamping device to approach the retrieval clamping device and be arranged parallel to the retrieval clamping device; (11) The loading and holding device clamps the arrow on the ejection and holding device, and clamps it at the end of the arrow shaft close to the tail of the arrow; the ejection and holding device releases its grip on the arrow; (12) Repeat (3) to (11) until all arrows on the archery robot have been thrown.

2. A material throwing method according to claim 1, characterized in that: The bullet-loading and clamping device comprises a bullet-loading and clamping cylinder and a bullet-loading and clamping hand, and a clamping sensor is fixed on the bullet-loading and clamping cylinder; the bullet-loading and clamping hand comprises two bullet-loading and clamping pieces; one bullet-loading and clamping piece is connected to one output end of the bullet-loading and clamping cylinder, and the other bullet-loading and clamping piece is connected to the other output end of the bullet-loading and clamping cylinder; the bullet-loading and clamping piece comprises more than two bullet-loading and clamping parts; the bullet-loading and clamping parts connected to one output end of the bullet-loading and clamping cylinder and the bullet-loading and clamping parts connected to the other output end of the bullet-loading and clamping cylinder are arranged alternately; The bullet-loading clamping part comprises a first clamping part, on which an arc-shaped second clamping part extends, and a clamping area is formed between the second clamping part and the first clamping part; the clamping areas of adjacent bullet-loading clamps are stacked.

3. A material throwing method according to claim 2, characterized in that: (2), the loading and clamping device clamps an arrow, specifically: the loading and clamping cylinder drives the loading and clamping hand to open, and the frame approaches the arrow. When the clamping sensor detects the arrow, the frame stops moving; then the loading and clamping cylinder drives the loading and clamping hand to open and clamp the arrow shaft in the clamping area.

4. A material throwing method according to claim 1, characterized in that: (3), the loading and holding device rotates 180°, and the direction of the arrow head of the arrow is consistent with the throwing direction of the throwing support cavity.

5. A material throwing method according to claim 4, characterized in that: There are two loading devices and two throwing devices, one loading device corresponds to one throwing device; in (4), the two loading and clamping devices respectively place the arrows in the corresponding throwing support cavities.

6. A material throwing method according to claim 5, characterized in that: (3), the two loading and clamping devices rotate in opposite directions. When the two loading and clamping devices rotate, the tails of the two arrows first approach each other and then separate.

7. A material throwing method according to claim 5, characterized in that: The bullet taking and clamping device is provided with three; the bullet taking and transverse moving device comprises a transverse moving bracket, a transverse moving lower plate and a transverse moving driving device; the transverse moving bracket is slidably arranged on the transverse moving lower plate, and the transverse moving lower plate is fixed on the bullet taking bracket; the bullet taking and transverse moving bracket is slidably arranged on the transverse moving bracket; the transverse moving driving device drives the bullet taking and transverse moving bracket to slide synchronously on the transverse moving bracket and the transverse moving bracket on the transverse moving lower plate; The transverse driving device includes a transverse driving motor, a first transverse driving wheel, a second transverse driving wheel, a transverse belt, a first transverse clamping device and a second transverse clamping device; The first transverse transmission wheel is arranged at one end of the transverse support, and the second transverse transmission wheel is arranged at the other end of the transverse support; the output end of the transverse driving motor is connected to the first transverse transmission wheel; the transverse belt sleeve is arranged on the first transverse transmission wheel and the second transverse transmission wheel; The first transverse clamping device is clamped on the transverse belt sleeve between the top end of the first transverse transmission wheel and the top end of the second transverse transmission wheel; the second transverse clamping device is clamped on the transverse belt sleeve between the bottom end of the first transverse transmission wheel and the bottom end of the second transverse transmission wheel.

8. A material throwing method according to claim 7, characterized in that: In (1), one or more bullet-retrieving and clamping devices are arranged alternately with one or more bullet-loading and clamping devices. Specifically, one bullet-retrieving and clamping device is arranged adjacent to another bullet-retrieving and clamping device, and another bullet-retrieving and clamping device, a bullet-loading and clamping device, another bullet-retrieving and clamping device and another clamping device are arranged alternately.

9. A material throwing method according to claim 7, characterized in that: (9) Specifically: if all the bullet-taking and clamping devices hold arrows, proceed to (9.1); if the arrows of another bullet-taking and clamping device and another bullet-taking and clamping device are both held, proceed to (9.2); (9.1) The lateral drive device drives the ammunition retrieval lateral movement bracket and the lateral movement bracket to move simultaneously in a direction close to the second lateral movement transmission wheel, so that another ammunition retrieval clamping device corresponds to a loading ammunition clamping device, and another ammunition retrieval clamping device corresponds to another loading ammunition clamping device; (9.2) The transverse driving device drives the bullet-taking transverse moving bracket and the transverse moving bracket to move simultaneously in a direction close to the second transverse driving wheel, so that a bullet-taking clamping device corresponds to a bullet-loading clamping device or another bullet-loading clamping device.

Images