A bullet removal device

Abstract

The present invention provides a bullet taking device, comprising a bullet taking transverse movement device, on which one or more bullet taking clamping devices are arranged, and the bullet taking transverse movement device drives the bullet taking clamping devices to move back and forth; the bullet taking transverse movement device comprises 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 taking bracket; the bullet taking transverse movement bracket is slidably arranged on the transverse movement bracket; the transverse movement driving device drives the bullet taking transverse movement bracket to slide synchronously on the transverse movement bracket and the transverse movement bracket on the transverse movement lower plate; the bullet taking transverse movement bracket and the transverse movement bracket move simultaneously in the same direction, and the bullet taking transverse movement bracket moves based on the movement of the transverse movement bracket; the bullet taking transverse movement bracket has a wide movement range.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a bullet-taking device. 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 With the development of science and technology, traditional manual archery has gradually been replaced by robot archery due to its single technology and poor technical content.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 so that the arrow body can be shot out. 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, 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, and the arrows of this structure are manually loaded in advance, which is inefficient. Summary of the invention

[0005] The present invention provides a bullet taking device, wherein the bullet taking transverse moving bracket moves on the basis of the movement of the transverse moving bracket, and the bullet taking clip device has a wide moving range, which is convenient for providing arrows for an archery robot.

[0006] To achieve the above-mentioned purpose, the technical solution of the present invention is: a bullet retrieval device, comprising a bullet retrieval bracket, a bullet retrieval lateral movement device, a bullet retrieval lateral movement bracket and one or more bullet retrieval clamping devices; the horizontal height of one side of the bullet retrieval bracket is higher than the horizontal height of the other side of the bullet retrieval bracket; the bullet retrieval lateral movement device is arranged on the bullet retrieval bracket; the output end of the bullet retrieval lateral movement device is connected to the bullet retrieval lateral movement bracket, and one or more bullet retrieval clamping devices are arranged on the bullet retrieval lateral movement bracket.

[0007] The bullet retrieval transverse movement device drives the bullet retrieval clamping device to move back and forth; 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.

[0008] 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.

[0009] 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.

[0010] 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 and is fixedly connected to the bullet retrieval transverse bracket; 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 and is fixedly connected to the transverse lower plate.

[0011] With the above arrangement, the bullet-taking device provides arrows for the archery robot, and since arrows are generally placed with the arrows pointing downward, in order to prevent the arrows from tipping over and falling, the arrows are tilted on the rack; by setting an inclined bullet-taking support plate, the bullet-taking bracket is also tilted, and then the bullet-taking clamping device installed on the bullet-taking bracket is also tilted; in this way, the coordination effect between the inclined bullet-taking clamping device and the tilted arrows is good.

[0012] A bullet taking transverse movement device is provided; when the transverse movement driving motor rotates in one direction, the first transverse movement clamping device approaches the second transverse movement transmission wheel, and the first transverse movement clamping device drives the bullet taking transverse movement bracket to move in the direction close to the second transverse movement transmission; and the second transverse movement clamping device approaches the first transverse movement transmission wheel, and since the transverse movement lower plate is fixed, this will drive the transverse movement bracket to move in the direction close to the second transverse movement transmission wheel; and when the transverse movement driving motor rotates in the opposite direction, the bullet taking transverse movement bracket and the transverse movement bracket will both move in the direction close to the first transverse movement transmission wheel; in this way, the bullet taking transverse movement bracket and the transverse movement bracket move simultaneously in the same direction, and the bullet taking transverse movement bracket moves on the basis of the movement of the transverse movement bracket; the bullet taking transverse movement bracket has a wide movement range.

[0013] Furthermore, the bullet taking and clamping device comprises a bullet taking and clamping cylinder and a bullet filling clip hand; the bullet taking and clamping hand is connected to the bullet taking and clamping cylinder.

[0014] The magazine hand comprises two magazine loading and unloading holders; one magazine loading and unloading holder is connected to one output end of the magazine loading and unloading holder cylinder, and the other magazine loading and unloading holder is connected to the other output end of the magazine loading and unloading holder cylinder; the magazine loading and unloading holder comprises more than two magazine loading and unloading clamping parts; the magazine loading and unloading clamping parts connected to one output end of the magazine loading and unloading holder cylinder and the magazine loading and unloading clamping parts connected to the other output end of the magazine loading and unloading holder cylinder are alternately arranged.

[0015] The bullet taking 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.

[0016] With the above arrangement, the bullet taking clamping cylinder drives the bullet taking 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 bullet taking clamping hand, so as to better clamp the arrow; at the same time, the bullet taking clamping parts connected to the two output ends of the bullet taking clamping cylinder are alternately arranged, the bullet taking clamping part at one output end of the bullet taking clamping cylinder swings in one direction, and the bullet taking clamping part at the other output end of the bullet taking clamping cylinder swings in the opposite direction of the relative bullet taking clamping part, so that the clamping effect on the arrow is good.

[0017] Furthermore, a protrusion extends from a clamping area at one end of the second clamping portion away from the first clamping portion.

[0018] The above arrangement reduces the space of the clamping area by means of the raised portion, thereby further improving the clamping of the arrow.

[0019] Furthermore, a clamping sensor is provided on the bullet taking and clamping cylinder.

[0020] Furthermore, the transverse moving bracket includes transverse moving bracket one, transverse moving bracket two and transverse moving bracket three; transverse moving bracket one is arranged on one side of transverse moving bracket three, and transverse moving bracket two is arranged on the other side of transverse moving bracket three; the first transverse moving transmission wheel is arranged at one end of transverse moving bracket three, the transverse moving drive motor is fixed on the transverse moving bracket one, and the output end of the transverse moving drive motor passes through the transverse moving bracket one, the first transverse moving transmission wheel and the transverse moving bracket two and is rotatably connected.

[0021] The second transverse transmission wheel is arranged at the other end of the transverse bracket three; a positioning pin is arranged at the end of the transverse bracket two away from the transverse driving motor; the positioning pin passes through the transverse bracket two, the second transverse transmission wheel and the transverse bracket one so as to be rotatably connected.

[0022] Furthermore, the bullet-taking transverse moving bracket is slidably arranged on the transverse moving bracket three through the first transverse moving sliding member; the transverse moving bracket one and the transverse moving bracket two are slidably arranged on the transverse moving lower plate body through the second transverse moving sliding member. The bullet-taking transverse moving bracket slides on the transverse moving bracket through the first transverse moving sliding member; and the transverse moving bracket slides on the transverse moving lower plate body through the second transverse moving sliding member.

[0023] Furthermore, the first transverse sliding member includes a first transverse sliding rail and a first transverse sliding block; the first transverse sliding rail is arranged at the top of the transverse bracket three, and the first transverse sliding block is slidably arranged on the first transverse sliding rail and fixedly connected to the bullet-removing transverse bracket. The second transverse sliding member includes two second transverse sliding rails and four second transverse sliding blocks; one second transverse sliding rail is arranged on one side of the transverse lower plate body; another second transverse sliding rail is arranged on the other side of the transverse lower plate body. Two second transverse sliding blocks are slidably arranged on a second transverse sliding rail and fixedly connected to the transverse bracket one; two second transverse sliding blocks are slidably arranged on another second transverse sliding rail and fixedly connected to the transverse bracket two. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional schematic diagram of an archery robot using the present invention.

[0025] Figure 2 It is a three-dimensional schematic diagram of the bullet-filling device of the archery robot using the present invention.

[0026] Figure 3 The figure is an exploded view of the bullet-loading device of the archery robot using the present invention.

[0027] Figure 4 It is a three-dimensional schematic diagram of the bullet-taking device in the present invention.

[0028] Figure 5 It is an exploded view of the bullet-taking device in the present invention.

[0029] Figure 6 It is an exploded view of the bullet-taking and lateral movement device in the present invention.

[0030] Figure 7 It is a three-dimensional schematic diagram of the bullet removal and clamping device in the present invention.

[0031] Figure 8 for Figure 7 Enlarged view of a.

[0032] Fig. 9 It is a schematic diagram of the bullet removal and clamping device of the present invention being opened.

[0033] Fig.10 It is a schematic diagram of the clamping of the bullet removal clamping device in the present invention.

[0034] Fig.11 It is a schematic diagram of the use of the archery robot of the present invention in cooperation with a rack on which arrows are placed.

[0035] Fig.12 This is a schematic diagram of a loading and clamping device clamping an arrow.

[0036] Fig.13 This is a schematic diagram of the loading and holding device after rotation.

[0037] Fig.14 A schematic diagram of the loading and holding device swinging toward the throwing device.

[0038] Fig.15 Schematic diagram of an arrow placed in a throwing device.

[0039] Fig.16 This is a front view of arrows placed on the rack.

[0040] Fig.17 It is a schematic diagram of the movement of the bullet-taking transverse bracket in the present invention. DETAILED DESCRIPTION

[0041] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] like Figure 1-17 As shown in the figure, a bullet-taking device is installed on an archery robot for use. The archery robot also includes a frame 1, on which one or more throwing devices 3 and one or more loading devices 4 are arranged. The bullet-taking device 2 is used to provide arrows 5 for the loading device 4; the loading device 4 is used to provide arrows for the throwing device 3 and reduce the value. The throwing device 3 is used to throw arrows.

[0043] Along the throwing direction of the throwing device 3 , the bullet filling device 4 is arranged between the throwing device 3 and the bullet taking device 2 .

[0044] Reference Fig.15 and 16 As shown, the arrow 5 includes an arrow head 51, an arrow shaft 52 and an arrow tail 53; the ends of the arrow shaft 52 are connected to the arrow head 51 and the arrow tail 53 respectively.

[0045] The loading device 4 includes a loading swing drive device 41, a loading swing bracket 42, a loading rotation device 43 and a loading clamping device 44; there is more than one loading clamping device 44; the loading clamping device 44 is used to clamp the arrow 5. The loading swing drive device 41 drives the loading swing bracket 42 to swing between the throwing device 3 and the loading device 2; the loading rotation device 43 is installed on the loading swing bracket 42 to drive the loading clamping device 44 to rotate; the loading clamping device 44 is used to clamp the arrow. In this embodiment, the loading swing drive device 41 is a servo, the loading clamping device 44 includes a loading clamping cylinder 441 and a loading clamping hand 442, and the loading rotation device 43 includes a loading rotation motor 431, a loading rotation driving gear 432, and a loading rotation driven gear 433; the loading rotation driven gear 433 is provided with a loading perforation (not shown in the figure).

[0046] The loading and clamping cylinder 441 passes through the loading and clamping hole and can be rotatably set on the loading and clamping bracket 42, and the loading and clamping rotation driving gear 432 is fixedly connected to the wall of the loading and clamping cylinder 441; the loading and rotating motor 431 is installed on the loading and swinging bracket 42, and the output end of the loading and rotating motor 431 is connected to the loading and rotating driving gear 432, and the loading and rotating driving gear 432 is meshed with the loading and rotating driven gear 433.

[0047] A swingable loading and clamping device 44 is provided to enable the loading and clamping device to swing between the retrieval device and the throwing device. The loading and clamping device clamps the arrow on the retrieval device and moves it closer to the throwing device and provides the throwing device with arrows.

[0048] 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 clamping devices 23; the bullet taking clamping devices 23 are used to clamp the arrow 5. In this embodiment, three bullet taking 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 clamping devices 23 are arranged on the bullet taking lateral movement bracket 22; the bullet taking lateral movement device 21 drives the bullet taking clamping device 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 clamping device 44 to swing between the casting support cavity 36 and the bullet taking clamping device 23.

[0049] 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.

[0050] In another embodiment, the bullet retrieval device 2 also includes a bullet retrieval bracket 24; the bullet retrieval bracket 24 is fixed on the frame 1, and the horizontal height of the side of the bullet retrieval bracket 24 close to the bullet filling device 4 is higher than the horizontal height of the side of the bullet retrieval bracket 24 away from the bullet filling device 4; the bullet retrieval transverse movement device 21 is arranged on the bullet retrieval bracket 24.

[0051] Reference Fig.11 and 16As 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.

[0052] The bullet taking and clamping device 23 includes a bullet taking and clamping cylinder 231 and a bullet taking and clamping hand 232; the bullet taking and clamping hand 232 includes two bullet taking and clamping pieces 2321; one bullet taking and clamping piece 2321 is connected to one output end of the bullet taking and clamping cylinder 231, and the other bullet taking and clamping piece 2321 is connected to the other output end of the bullet taking and clamping cylinder 231; each bullet taking and clamping piece 2321 includes more than two bullet taking and clamping parts 2322; the bullet taking and clamping parts 2322 connected to one output end of the bullet taking and clamping cylinder 231 and the bullet taking and clamping parts 2322 connected to the other output end of the bullet taking and clamping cylinder 231 are alternately arranged.

[0053] The bullet removal clamping portion 2322 includes a first clamping portion 2323 , on which an arc-shaped second clamping portion 2324 extends, and a clamping area 2325 is formed between the second clamping portion 2324 and the first clamping portion 2323 ; the clamping areas 2325 of adjacent bullet loading clamping portions 2322 are stacked.

[0054] The bullet taking and clamping cylinder 231 drives the filling and clamping hand 232 to clamp or open, thereby clamping or removing the arrow 5; the adjacent clamping areas 2325 are stacked to extend the clamping length of the bullet taking and clamping hand 232, so as to better clamp the arrow 5; at the same time, the bullet taking and clamping parts 2322 connected to the two output ends of the bullet taking and clamping cylinder 231 are alternately arranged, and the bullet taking and clamping part 2322 at one output end of the bullet taking and clamping cylinder 231 swings in one direction, and the bullet taking and clamping part 2322 at the other output end of the bullet taking and clamping cylinder 231 swings in the opposite direction of the relative bullet taking and clamping part 2322, so that the clamping effect on the arrow 5 is good.

[0055] In this embodiment, a protrusion 2326 extends from the clamping area 2325 at one end of the second clamping portion 2324 away from the first clamping portion 2323. The protrusion 2326 reduces the space of the clamping area 2325, thereby further improving the clamping of the arrow 5. In this embodiment, the loading clamping cylinder has the same structure as the loading and removing clamping cylinder 231; the loading clamping hand has the same structure as the removing clamping hand 232; a clamping sensor 46 is provided on the removing clamping cylinder, and the clamping sensor 46 is used to detect the arrow. When the clamping sensor 46 on the removing clamping cylinder detects the arrow, the removing clamping hand clamps the arrow. A clamping sensor is also provided on the loading clamping cylinder; when the clamping sensor on the loading clamping cylinder detects the arrow, the loading clamping hand clamps the arrow.

[0056] 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 on the transverse movement bracket 211 and the transverse movement bracket 211 on the transverse movement lower plate 212 to slide synchronously.

[0057] 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 .

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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 .

[0062] 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.

[0063] 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 transverse moving lower 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 moving transmission 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. The second transverse clamping device 2136 approaches the first transverse transmission wheel 2132, and since the transverse lower plate 212 is fixed on the frame 1, this will drive the transverse bracket 211 to move in the direction close to the second transverse transmission wheel 2133; and when the transverse drive motor 2131 rotates in the opposite direction, the bullet retrieval transverse bracket 22 and the transverse bracket 211 will move in the direction close to the first transverse transmission wheel 2132; in this way, the bullet retrieval transverse bracket 22 and the transverse bracket move in the same direction at the same time, and the bullet retrieval transverse bracket moves on the basis of the movement of the transverse bracket; thereby, the bullet retrieval transverse bracket 22 has a wide movement range.

[0064] In this embodiment, the length of the loading device is greater than the length of the retrieving device. When the loading device and the retrieving device are arranged in parallel, the loading clamping device extends to the outside 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.

[0065] The working method of the bullet-taking device comprises the following steps:

[0066] (1). The driving motor drives the transverse clamping device to move toward the first transverse transmission wheel, and the transverse bracket to move toward the first transverse transmission wheel synchronously, and one or more bullet-taking clamping devices and one or more bullet-loading clamping devices are alternately arranged.

[0067] (2) A bullet-taking and holding device holds an arrow at an end of the arrow shaft close to the arrow head.

[0068] (3) The bullet taking and lateral movement device drives the bullet taking and lateral movement bracket to move, so that the bullet taking and clamping device holding the arrow is in the corresponding position with the bullet loading and clamping device.

[0069] (4) When the loading and holding device clamps the arrow on the corresponding retrieval and holding device and clamps it at the end of the arrow shaft close to the tail of the arrow; the retrieval and holding device releases its grip on the arrow; the loading and holding device rotates to approach the throwing device and provides the arrow to the throwing device.

[0070] (5) After the loading and clamping device provides arrows for the throwing device, the transverse driving motor drives the transverse clamping device to move toward the second transverse transmission wheel, and the transverse bracket moves toward the second transverse transmission wheel synchronously, so that the other bullet-taking clamping device holding the arrows corresponds to the position of the loading and clamping device.

[0071] (6) Repeat (4) to (5) until all arrows on the bullet-removing device are provided to the bullet-loading clamping device.

[0072] In the above method, before the bullet taking and clamping device clamps the arrow, the bullet taking and transverse moving bracket moves, so that the bullet taking and clamping device and the bullet loading and clamping device are arranged alternately, thereby preventing the bullet loading and clamping device from interfering with the bullet taking and clamping device in clamping the arrow.

[0073] When the transverse driving motor rotates, the first transverse clamping device moves in one direction, and the first transverse clamping device drives the bullet taking clamping device on the bullet taking transverse moving bracket to move; at the same time, the second transverse clamping device drives the lower transverse moving plate to move in the opposite direction of the first transverse clamping device. However, since the lower transverse moving plate is fixed, under the action of the second transverse clamping device, the transverse driving motor drives the transverse moving bracket to move on the lower transverse moving plate. At the same time, since the first transverse clamping device and the second transverse clamping device move synchronously, the bullet taking transverse moving bracket on the transverse moving bracket and the transverse moving bracket on the transverse moving lower plate can achieve synchronous sliding. In this way, the bullet taking clamping device has a wide moving range and a fast moving speed.

[0074] The arrow can be thrown only when the direction of the arrow head is consistent with the throwing direction of the throwing supporting cavity; since the bullet retrieval clamping device is arranged below the bullet loading clamping device, the end of the arrow shaft close to the arrow head is clamped by the bullet retrieval clamping device, and then the end of the arrow shaft close to the arrow tail is clamped by the bullet loading clamping device, so that when the bullet loading clamping device is rotated, the arrow can match the throwing device.

[0075] In the above method,

[0076] (1) Specifically, the lateral drive device drives the retrieval lateral movement bracket and the lateral movement bracket to move simultaneously in a direction close to the first lateral movement transmission wheel; so that one retrieval clamping device is arranged adjacent to another retrieval clamping device, and the other retrieval clamping device, the loading clamping device and the further retrieval clamping device are arranged alternately; in this way, the loading clamping device is prevented from interfering with the retrieval clamping device in clamping the arrow.

[0077] In (2), the retrieval clamping device clamps an arrow, specifically: the retrieval clamping cylinder drives the retrieval clamping hand to open, and when the clamping sensor detects the arrow, the retrieval clamping cylinder drives the retrieval clamping hand to clamp the arrow shaft in the clamping area. The control method is simple by detecting the arrow by the clamping sensor to control the clamping of the loader.

[0078] In another embodiment, two loading and clamping devices are provided; the distance between the two loading and clamping devices is relative to the distance between two of the retrieval clamping devices. When two loading and clamping devices are provided, (3) is: if all of the retrieval clamping devices hold arrows, proceed to (3.1); if arrows of two of the retrieval clamping devices are held, proceed to (3.2).

[0079] (3.1). The transverse driving motor drives the transverse clamping device to move toward the second transverse transmission wheel, and the transverse bracket to move toward the second transverse transmission wheel synchronously, 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.

[0080] (3.2). The transverse driving motor drives the transverse clamping device to move toward the second transverse transmission wheel and the transverse bracket to move toward the second transverse transmission wheel synchronously, so that a bullet-taking clamping device corresponds to a bullet-loading clamping device or another bullet-loading clamping device.

[0081] 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 bullet extraction device, characterized in that: It comprises a bullet-taking bracket, a bullet-taking lateral movement device, a bullet-taking lateral movement bracket and one or more bullet-taking clamping devices; the horizontal height of one side of the bullet-taking bracket is higher than the horizontal height of the other side of the bullet-taking bracket; the bullet-taking lateral movement device is arranged on the bullet-taking bracket; 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 transverse movement device drives the bullet taking clamping device to move back and forth; the bullet taking transverse movement device comprises 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 taking bracket; the bullet taking transverse movement bracket is slidably arranged on the transverse movement bracket; the transverse movement driving device drives the bullet taking transverse movement bracket to slide synchronously on the transverse movement bracket and the transverse movement bracket on the transverse movement 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 and is fixedly connected to the bullet-taking transverse bracket; 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 and is fixedly connected to the transverse lower plate; The transverse moving bracket includes a transverse moving bracket 1, a transverse moving bracket 2 and a transverse moving bracket 3; the transverse moving bracket 1 is arranged on one side of the transverse moving bracket 3, and the transverse moving bracket 2 is arranged on the other side of the transverse moving bracket 3; the first transverse moving transmission wheel is arranged at one end of the transverse moving bracket 3, the transverse moving driving motor is fixed on the transverse moving bracket 1, and the output end of the transverse moving driving motor passes through the transverse moving bracket 1, the first transverse moving transmission wheel and the transverse moving bracket 2 so as to be rotatably connected; The second transverse transmission wheel is arranged at the other end of the transverse bracket three; a positioning pin is arranged at the end of the transverse bracket two away from the transverse driving motor; the positioning pin passes through the transverse bracket two, the second transverse transmission wheel and the transverse bracket one so as to be rotatably connected; The bullet-taking transverse moving bracket is slidably arranged on the transverse moving bracket three through the first transverse moving sliding member; the transverse moving bracket one and the transverse moving bracket two are slidably arranged on the transverse moving lower plate body through the second transverse moving sliding member; The first transverse sliding member includes a first transverse sliding rail and a first transverse sliding block; the first transverse sliding rail is arranged at the top end of the transverse bracket three, the first transverse sliding block is slidably arranged on the first transverse sliding rail and is fixedly connected to the bullet-taking transverse bracket; the second transverse sliding member includes two second transverse sliding rails and four second transverse sliding blocks; one second transverse sliding rail is arranged on one side of the transverse lower plate body; another second transverse sliding rail is arranged on the other side of the transverse lower plate body; Two second transverse sliding blocks are slidably arranged on a second transverse sliding rail and are fixedly connected to a transverse bracket one; two second transverse sliding blocks are slidably arranged on another second transverse sliding rail and are fixedly connected to a transverse bracket two.

2. The bullet extraction device according to claim 1, characterized in that: The bullet taking and clamping device comprises a bullet taking and clamping cylinder and a bullet filling clamping hand; the bullet taking and clamping hand is connected to the bullet taking and clamping cylinder; The magazine holder includes two magazine loading and unloading holders; one magazine holding piece is connected to one output end of the magazine holding cylinder, and the other magazine holding piece is connected to the other output end of the magazine holding cylinder; the magazine holding piece includes more than two magazine holding parts; the magazine holding part connected to one output end of the magazine holding cylinder and the magazine holding part connected to the other output end of the magazine holding cylinder are alternately arranged; The bullet taking 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. The bullet extraction device according to claim 2, characterized in that: A protrusion extends from a clamping area at one end of the second clamping portion away from the first clamping portion.

4. The bullet extraction device according to claim 2, characterized in that: A clamping sensor is arranged on the bullet taking and clamping cylinder.

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