A feeding method

Abstract

The present invention provides a loading method, which loads and throws arrows through an archery robot. The archery robot is provided with a throwing device and a loading device on a frame of the archery robot, and the throwing device is provided with a throwing supporting cavity; the loading device includes a loading clamping device, and the throwing supporting cavity is used to support arrows, and the loading clamping devices are used to clamp arrows, and the two loading clamping devices clamp arrows and rotate in opposite directions to place the arrows on the throwing supporting cavity, and the throwing supporting cavity limits the arrows; the arrows placed on the throwing supporting cavity are not affected by gravity and are separated from the throwing supporting cavity; the loading of arrows is realized; the operation of loading arrows is simple; and at the same time, one arrow will not interfere with another arrow during the loading process.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a feeding 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 With the development of science and technology, traditional manual archery has gradually been replaced by robot archery due to its single technology and poor technical content.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 to make the arrow body and the guide tube threadedly connected. The operation of installing the arrow body of the arrow-throwing robot is cumbersome. Summary of the invention

[0005] The invention provides a loading method, which is simple in loading arrows and can clamp arrows in different directions.

[0006] To achieve the above-mentioned purpose, the technical solution of the present invention is: a loading method, wherein an archery robot loads and throws arrows, wherein the arrows include an arrowhead, an arrow shaft and an arrow tail, wherein the arrow shaft connects the arrowhead and the arrow tail, and the size of the arrowhead cross-section is larger than the size of the arrow shaft cross-section, and the archery robot includes a frame, on which two throwing devices and two loading devices are provided, wherein the throwing device is arranged at one end of the frame, the loading device is arranged at the other end of the frame, and the throwing device is arranged above the loading device.

[0007] The throwing device includes a throwing rotating device, a throwing driving device, a throwing swinging 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 swinging bracket is movably arranged on the throwing supporting bracket; the throwing driving device is connected to the throwing swinging bracket and drives one end of the throwing swinging bracket to approach or move away from the throwing supporting bracket; the throwing rotating device is used to drive the throwing driving device, the throwing swinging bracket and the throwing supporting 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 feeding method comprises the following steps:

[0011] (1) The two loading and clamping devices respectively clamp the arrows at one end of the arrow shaft close to the tail.

[0012] (2) The loading and clamping device drives the loading and clamping device to rotate, and the loading and 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; the rotation directions of the two loading and clamping devices are opposite. When the two loading and clamping devices rotate, the tails of the two arrows first approach each other and then separate.

[0013] (3) The loading and swinging driving device drives the loading and clamping device to approach the casting support cavity. When the arrow contacts the first support member, the loading and 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.

[0014] (4) The loading swing drive device drives the loading clamping device away from the throwing support cavity.

[0015] (5) Determine whether the projection target is consistent with the projection direction of the projection support cavity. If so, proceed to (7); if not, proceed to (6).

[0016] (6) 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.

[0017] (7) If the two projection devices need to project onto the same projection target continuously, proceed to (8); if the two projection devices need to project onto the same projection target simultaneously, proceed to (10).

[0018] (8) A throwing drive device drives a throwing swing bracket to swing in a direction away from the throwing support bracket, and a first support member pushes the arrow to be thrown; then (9) is performed.

[0019] (9) Another throwing driving device drives another throwing swing bracket to swing in a direction away from the throwing supporting bracket, and another first supporting member pushes the arrow to be thrown.

[0020] (10) The two throwing drive devices simultaneously drive the corresponding throwing swing brackets to swing away from the throwing support bracket, and the two first support members simultaneously push the arrows to be thrown.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] Furthermore, in (3), the bullet 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.

[0028] 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The figure is a three-dimensional schematic diagram of an archery robot for realizing the present invention.

[0030] Figure 2 The present invention is a three-dimensional schematic diagram of a throwing device in an archery robot.

[0031] Figure 3 for Figure 2 Enlarged view of a.

[0032] Figure 4 To realize the exploded view of the throwing device in the archery robot of the present invention without the throwing rotating driving gear, the throwing rotating belt and the throwing rotating motor.

[0033] Figure 5 The present invention is a three-dimensional schematic diagram of the bullet-filling device in the archery robot.

[0034] Figure 6 This is an exploded view of the bullet-loading device in the archery robot according to the present invention.

[0035] Figure 7 This is an exploded view of the bullet-loading clamping device and the bullet-loading rotating driven gear in the archery robot of the present invention.

[0036] Figure 8 for Figure 7 Enlarged view of middle b.

[0037] Fig. 9 This is a schematic diagram of the opening of the bullet-loading clamping device in the archery robot of the present invention.

[0038] Fig.10 A schematic diagram of clamping the bullet-loading clamping device in the archery robot of the present invention.

[0039] Fig.11 A schematic diagram of the cooperation between the archery robot of the present invention and a rack on which arrows are placed.

[0040] Fig.12 A schematic diagram of the arrow clamping device of the archery robot of the present invention.

[0041] Fig.13 This is a schematic diagram of the rotating bullet-loading clamping device in the archery robot of the present invention.

[0042] Fig.14 A schematic diagram of the archery robot's bullet loading and clamping device swinging toward the throwing support cavity to realize the present invention.

[0043] Fig.15 A schematic diagram of an arrow placed in a casting support cavity.

[0044] Fig.16 This is a front view of arrows placed on the rack.

[0045] Fig.17 A schematic diagram of the movement of the bullet-taking and transversely moving bracket in the archery robot of the present invention.

[0046] Fig.18 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0047] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] like Figure 1-17 As shown; a loading method, which uses an archery robot to load and throw arrows. The archery robot includes a frame 1, on which two throwing devices 3 and two loading devices 4 are arranged, the loading device is arranged at one end of the frame, the throwing device is arranged at the other end of the frame, and the throwing device 3 is arranged above the loading device 4. In this embodiment, one loading device 4 corresponds to one throwing device 3.

[0049] 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. 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.

[0050] 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 .

[0051] 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 position of the arrow 5. Fig.15 and 16 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 arrow shaft 52, and the top end of the casting support cavity 36 realizes the limitation of the arrow 5 to prevent the arrow 5 from escaping from the casting support cavity 36 under the action of gravity.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] Reference Fig.11 and 16 As shown; in this embodiment, the arrow 5 is placed on the rack; the arrow 5 is generally placed in the downward direction of the arrow, and in order to prevent the arrow 5 from tipping over, the arrow 5 is tilted and mounted on the rack.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] A first bullet-loading swinging plate 421 is provided at one end of the bullet-loading swinging bracket 42, and a second bullet-loading swinging plate 422 is provided at the other end of the bullet-loading swinging bracket 42; the first bullet-loading swinging plate 421 and the second bullet-loading swinging plate 422 are arranged in parallel; a first swing opening 423 is provided on the first bullet-loading swinging plate 421; a second swing opening 424 is provided on the second bullet-loading swinging plate 422; the first swing opening 423 and the second swing opening 424 are arranged coaxially with the center of the circle.

[0062] 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 .

[0063] The bullet-loading rotating device 43 comprises 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] A third fastener 4425 is provided on the top of one of the second fastening parts 4424, and a clamping sensor 46 is provided on the third fastener 4425. The clamping sensor 46 is used to detect the arrow 5. When the clamping sensor 46 detects the arrow, the loader clamps the arrow 5.

[0069] 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.

[0070] 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 parts 4432 connected to one output end of the loading clamping cylinder 441 and the loading clamping parts 4432 connected to the other output end of the loading clamping cylinder 441 are alternately arranged.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] In this embodiment, a supporting portion 332 is provided on the first supporting member 331. 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 arrowhead of the arrow 5 and support the arrow 5. The arrow 51 is pressed against the supporting portion 332, and the arrowhead 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.

[0075] The projection device further includes a moving device 2, which is disposed 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 21, each group of moving wheels 21 is driven by an independent motor.

[0076] like Fig.18 As shown; the feeding method comprises the following steps:

[0077] (1) Two loading and clamping devices 44 respectively clamp the arrows and clamp them at the end of the arrow shaft near the tail.

[0078] (2) The loading and clamping device 44 is driven to rotate, and the loading and 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; the rotation directions of the two loading and clamping devices are opposite. When the two loading and clamping devices rotate, the tails of the two arrows first approach each other and then separate.

[0079] (3) 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.

[0080] (4) The loading and swinging driving device drives the loading and clamping device 44 away from the throwing and supporting cavity.

[0081] (5) Determine whether the projection target is consistent with the projection direction of the projection support cavity. If yes, proceed to (7); if no, proceed to (6). In this embodiment, it is manually determined whether the projection target is consistent with the projection direction of the projection support cavity.

[0082] (6) 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.

[0083] (7) If the two projection devices need to project onto the same projection target continuously, proceed to (8); if the two projection devices need to project onto the same projection target simultaneously, proceed to (10).

[0084] (8) A throwing drive device drives a throwing swing bracket to swing in a direction away from the throwing support bracket, and a first support member pushes the arrow to be thrown; then (9) is performed.

[0085] (9) Another throwing driving device drives another throwing swing bracket to swing in a direction away from the throwing supporting bracket, and another first supporting member pushes the arrow to be thrown.

[0086] (10) The two throwing drive devices simultaneously drive the corresponding throwing swing brackets to swing away from the throwing support bracket, and the two first support members simultaneously push the arrows to be thrown.

[0087] In the above method, the arrow is clamped by the loading and clamping device. Since the direction of the arrow head of the arrow is consistent with the throwing direction of the throwing supporting cavity, the arrow can be thrown; 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; first, the loading and clamping device is driven to rotate, so that the direction of the arrow head of the arrow is consistent with the throwing direction of the throwing supporting cavity; in this way, when the arrow contacts the first supporting member, the arrow shaft is located above the throwing supporting cavity. Since the throwing supporting cavity is inclined, after the clamping of the arrow is released, the arrow will naturally slide into the throwing supporting cavity, and at the same time, the throwing supporting cavity will limit the arrow head, so that the arrow is loaded, and the method of loading the arrow is simple.

[0088] At the same time, 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.

[0089] In the above method,

[0090] In (1), the loading and clamping device clamps the 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 loading and clamping hand is controlled to clamp when the clamping sensor detects the arrow, and the control method is simple.

[0091] (2), the loading and loading rotating device drives the loading and loading clamping device to rotate, specifically: the loading and loading rotating motor drives the loading and loading clamping device to rotate around the center of the first swing opening and the second swing opening. The loading and 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 loading and loading clamping device clamps the arrow, the loading and loading rotating device drives the loading and loading clamping device to rotate 180°. In this embodiment, the two loading and loading clamping devices rotate in opposite directions. When the two loading and loading clamping devices rotate, the tails of the two arrows first approach each other and then separate. Refer to Fig.17 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.

[0092] In (5), 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.

Claims

1. A method for loading and throwing arrows by an archery robot, wherein the arrows include an arrowhead, an arrow shaft and an arrow tail, the arrow shaft connects the arrowhead and the arrow tail, the cross section of the arrowhead is larger than the cross section of the arrow shaft, the archery robot includes a frame, two throwing devices and two loading devices are arranged on the frame, and the method is characterized in that: The throwing device is arranged at one end of the frame, the bullet-filling device is arranged at the other end of the frame, and the throwing device is arranged above the bullet-filling 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; The casting rotating device is used to drive the casting driving device, the casting swing bracket and the casting 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 throwing rotating device comprises a throwing rotating bearing, a throwing rotating driven gear, a throwing rotating driving gear, a throwing rotating belt and a throwing rotating motor; the throwing driving device, the throwing swing bracket and the throwing supporting bracket rotate along the circumferential direction of the throwing rotating bearing; The inner ring of the casting rotation bearing and the casting rotation motor are both fixed on the frame, the outer ring of the casting rotation bearing is connected to one side of the casting rotation driven gear, and the casting rotation motor is connected to the casting rotation driving gear; the casting rotation leather cover is arranged on the casting rotation driven gear and the casting rotation driving gear; the casting support bracket is fixed to the other side of the casting rotation driven gear; The casting rotation motor drives the casting support cavity to rotate; The feeding method comprises the following steps: (1) Two loading and clamping devices respectively clamp arrows at one end of the arrow shaft close to the tail; (2) The loading and reloading rotating device drives the loading and reloading clamping device to rotate, and the loading and reloading 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; the rotation directions of the two loading and reloading clamping devices are opposite, and when the two loading and reloading clamping devices rotate, the tails of the two arrows first approach each other and then separate; (3) 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. (4) The loading swing drive device drives the loading clamping device away from the throwing support cavity; (5) Determine whether the projection target is consistent with the projection direction of the projection support cavity. If so, proceed to (7); if not, proceed to (6); (6) 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; (7) If the two projection devices need to project to the same projection target continuously, proceed to (8); if the two projection devices need to project to the same projection target simultaneously, proceed to (10); (8) A throwing drive device drives a throwing swing bracket to swing away from the throwing support bracket, and a first support member pushes the arrow to be thrown; then (9) is performed; (9) Another throwing drive device drives another throwing swing bracket to swing away from the throwing support bracket, and another first support member pushes the arrow to be thrown; (10) The two throwing drive devices simultaneously drive the corresponding throwing swing brackets to swing away from the throwing support bracket, and the two first support members simultaneously push the arrows to be thrown.

2. A feeding 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 feeding 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 feeding 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.

Images