A method for taking materials

Abstract

The present invention provides a material taking method, which provides arrows for a loading device through a bullet taking device, wherein the bullet taking device includes a bullet taking transverse movement device, and one or more bullet taking clamping devices are provided on the bullet taking transverse movement device, and the bullet taking transverse movement device drives the bullet taking clamping devices to move back and forth; the bullet taking 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 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 and a fast movement speed.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, in particular to a material taking method. Background Art

[0002] Originally used for hunting and warfare, archery later evolved into a game and competition, transforming from a traditional military skill into a modern leisure sport. With the advancement of technology, traditional manual archery, due to its limited and poor technical skills, has been gradually replaced by robotic archery.

[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 projecting 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 projecting device is used to project arrows, and the projecting 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 projecting device.

[0004] However, in this 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 install 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, the threaded cooperation between the inner wall of the arrow body and the outer wall of the guide tube will interfere with the shooting of the arrow body. When installing the arrow body, it is necessary to align the arrow body with the guide tube; then, the arrow body and the guide tube are threadedly connected by rotating the arrow body to fix the arrow body on the guide tube. The operation of installing the arrow body of this 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 invention provides a material taking method, which enables a bullet taking and clamping device to move quickly to provide arrows for a bullet filling and clamping device.

[0006] To achieve the above-mentioned purpose, the technical solution of the present invention is: a material taking method, wherein a bullet taking device provides arrows to a bullet loading device, and the bullet loading device provides arrows to a throwing device, and there is more than one bullet loading device, and each bullet loading device includes a bullet loading rotating device and a bullet loading clamping device, and the bullet loading rotating device drives the bullet loading clamping device to rotate, and the bullet loading clamping device is used to clamp the arrow, and the arrow includes an arrowhead, an arrow shaft and an arrow tail, and the arrow shaft connects the arrowhead and the arrow tail, and the size of the arrowhead is larger than the size of the arrow shaft, and the bullet taking device includes a bullet taking transverse movement device, a bullet taking transverse movement bracket and more than one bullet taking clamping device; the output end of the bullet taking transverse movement device is connected to the bullet taking transverse movement bracket, and more than one bullet taking clamping device is arranged on the bullet taking transverse movement bracket; the bullet taking transverse movement device drives the bullet taking clamping device to move back and forth.

[0007] 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 fixedly arranged, and the transverse movement bracket is slidably arranged on the transverse movement lower plate; 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 to slide synchronously on the transverse movement bracket and the transverse movement bracket on the transverse movement lower plate.

[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 drive motor is connected to the first transverse transmission wheel; the transverse belt 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-removing 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] The material taking method comprises the following steps:

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

[0013] (2) A bullet-taking and holding device holds an arrow at the end of the arrow shaft near the arrow head.

[0014] (3) The bullet retrieval and transverse movement device drives the bullet retrieval and transverse movement bracket to move, so that the bullet retrieval clamping device holding the arrow is positioned corresponding to the position of the bullet loading clamping device.

[0015] (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 near the tail, the retrieval and holding device releases its grip on the arrow.

[0016] (5) After the loading and holding device provides the arrow for the throwing device, the bullet retrieval transverse movement device drives the bullet retrieval transverse movement bracket to move so that the other bullet retrieval clamping device holding the arrow corresponds to the position of the loading and holding device.

[0017] (6) Repeat (4)-(5) until all the arrows on the bullet removal device are provided to the bullet loading clamping device.

[0018] In the above method, before the bullet retrieval clamping device clamps the arrow, the bullet retrieval transverse bracket moves, so that the bullet retrieval clamping device and the loading clamping device are arranged alternately; thus, the loading clamping device is prevented from interfering with the bullet retrieval clamping device in clamping the arrow.

[0019] When the transverse drive motor rotates, the first transverse clamping device moves in one direction, driving the ammunition retrieval clamping device on the ammunition retrieval transverse moving bracket to move; at the same time, the second transverse clamping device drives the transverse lower plate to move in the opposite direction of the first transverse clamping device. However, since the transverse lower plate is fixed, under the action of the second transverse clamping device, the transverse drive motor drives the transverse bracket to move on the transverse lower plate. At the same time, since the first transverse clamping device and the second transverse clamping device move synchronously, the ammunition retrieval transverse bracket on the transverse bracket and the transverse bracket on the transverse lower plate can achieve synchronous sliding. In this way, the ammunition retrieval clamping device has a wide range of movement and a fast movement speed.

[0020] The arrow can only be thrown when the direction of the arrow head is consistent with the throwing direction of the throwing support 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. In this way, when the bullet loading clamping device is rotated, the arrow can match the throwing device.

[0021] Furthermore, the bullet taking and clamping device includes 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.

[0022] The magazine removal hand includes two magazine loading and unloading holders; one magazine removal holder is connected to one output end of the magazine removal clamping cylinder, and the other magazine removal holder is connected to the other output end of the magazine removal clamping cylinder; the magazine removal holder includes more than two magazine removal clamping parts; the magazine removal clamping part connected to one output end of the magazine removal clamping cylinder and the magazine removal clamping part connected to the other output end of the magazine removal clamping cylinder are alternately arranged.

[0023] The bullet-taking clamping part includes a first clamping part, an arc-shaped second clamping part extending from the first clamping part, 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.

[0024] 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, which can 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 of the arrow is good.

[0025] Furthermore, 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 and controlling the clamping of the loader. The control method is simple by detecting the arrow by the clamping sensor and controlling the clamping of the loader.

[0026] Furthermore, two loading devices are provided, and the distance between the two loading clamping devices is opposite to the distance between two of the retrieving clamping devices.

[0027] Furthermore, when there are two loading and holding devices, (3) is: if all the loading and holding devices hold arrows, proceed to (3.1); if arrows are held by two of the loading and holding devices, proceed to (3.2).

[0028] (3.1). The bullet retrieval transverse movement device drives the bullet retrieval transverse movement bracket to move, so that another bullet retrieval clamping device corresponds to a bullet loading clamping device, and another bullet retrieval clamping device corresponds to another bullet loading clamping device.

[0029] (3.2) The ammunition retrieval transverse movement device drives the ammunition retrieval transverse movement bracket to move, so that a ammunition retrieval clamping device corresponds to a loading clamping device or another loading clamping device.

[0030] According to the above method, when all the retrieval and clamping devices are holding arrows, another retrieval and clamping device is used to correspond to one loading and clamping device, and another retrieval and clamping device is used to correspond to another loading and clamping device; arrows can be provided to both loading and clamping devices at the same time; at the same time, one retrieval and clamping device also holds arrows, thereby further increasing the storage capacity of arrows; when arrows are both held by the other retrieval and clamping devices, one retrieval and clamping device provides arrows to one loading and clamping device or another loading and clamping device, and further provides arrows to one of the throwing devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a three-dimensional schematic diagram of an archery robot using the present invention.

[0032] Figure 2 It is a three-dimensional schematic diagram of the bullet-loading device of the archery robot using the present invention.

[0033] Figure 3 The figure is an exploded view of the bullet-loading device of the archery robot using the present invention.

[0034] Figure 4 It is a three-dimensional schematic diagram of the bullet extraction device using the present invention.

[0035] Figure 5 It is an exploded view of the bullet extraction device using the present invention.

[0036] Figure 6 The figure is an exploded view of the bullet retrieval and traversing device of the present invention.

[0037] Figure 7 It is a three-dimensional schematic diagram of the bullet-taking and clamping device.

[0038] Figure 8 for Figure 7 Enlarged view of a.

[0039] Figure 9 This is a schematic diagram of the use of the bullet-taking and clamping device of the present invention when it is opened.

[0040] Figure 10 This is a schematic diagram of clamping using the bullet-taking and clamping device of the present invention.

[0041] Figure 11 This is a schematic diagram of the archery robot of the present invention cooperating with a rack on which arrows are placed.

[0042] Figure 12 This is a schematic diagram of the loading and holding device holding an arrow.

[0043] Figure 13 This is a schematic diagram of the bullet loading and holding device after rotation.

[0044] Figure 14 Schematic diagram of the loading and holding device swinging towards the throwing device.

[0045] Figure 15 Schematic diagram of an arrow placed in a throwing device.

[0046] Figure 16 This is a front view of arrows placed on the rack.

[0047] Figure 17 Schematic diagram of the movement of the bullet removal and transverse movement bracket in the present invention.

[0048] Figure 18 Flowchart of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0050] like Figure 1-17 A method for retrieving material is shown, wherein a retrieval device provides arrows to a loading device. The retrieval device is mounted 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 disposed. The retrieval device 2 is used to provide arrows 5 to the loading device 4; the loading device 4 is used to provide arrows to the throwing device 3 and reduce the value. The throwing device 3 is used to throw arrows.

[0051] Along the throwing direction of the throwing device 3 , the bullet loading device 4 is arranged between the throwing device 3 and the bullet taking device 2 .

[0052] Reference Figure 15 and 16 As shown, the arrow 5 includes an arrowhead 51, an arrow shaft 52 and an arrow tail 53; the ends of the arrow shaft 52 are connected to the arrowhead 51 and the arrow tail 53 respectively.

[0053] The loading device 4 includes a loading swing drive 41, a loading swing bracket 42, a loading rotation device 43, and a loading clamping device 44. There is at least one loading clamping device 44, which is used to clamp the arrow 5. The loading swing drive 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 mounted on the loading swing bracket 42 and drives 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 41 is a servo. The loading clamping device 44 includes a loading clamping cylinder 441 and a loading gripper 442. 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 hole (not shown).

[0054] The loading and clamping cylinder 441 passes through the loading and clamping hole and is rotatably set on the loading and clamping bracket 42. 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. 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 engaged with the loading and rotating driven gear 433.

[0055] 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.

[0056] The retrieval device 2 includes a retrieval transverse movement device 21, a retrieval transverse movement bracket 22, and one or more retrieval clamping devices 23; the retrieval clamping devices 23 are used to clamp the arrow 5. In this embodiment, three retrieval clamping devices 23 are provided. The retrieval transverse movement device 21 is disposed on the frame 1, and the output end of the retrieval transverse movement device 21 is connected to the retrieval transverse movement bracket 22. One or more retrieval clamping devices 23 are disposed on the retrieval transverse movement bracket 22. The retrieval transverse movement device 21 drives the retrieval clamping devices 23 to move perpendicular to the swing direction of the delivery swing bracket 33. The loading swing drive device 41 is used to drive the loading clamping device 44 to swing between the delivery support cavity 36 and the retrieval clamping device 23.

[0057] By providing the retrieval device 2, the arrow 5 is simultaneously clamped by the loading and holding device 44 and the retrieval and holding device 23. After the loading and holding device 44 places the clamped arrow 5 into the casting support cavity 36 and projects it, the loading and holding device 44 picks up the arrow 5 clamped by the retrieval and holding device 23 and provides it to the casting support cavity 36. This allows the throwing device 3 to repeatedly cast arrows 5 by storing arrows 5. Since both the throwing device 3 and the loading and holding device 4 are provided with two or more, the retrieval and holding device 21 is provided to drive the retrieval and holding device 23 to move, thereby providing arrows 5 for the loading and holding device 4.

[0058] In another embodiment, the bullet retrieval device 2 further 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 loading device 4 is higher than the horizontal height of the side of the bullet retrieval bracket 24 away from the bullet loading device 4; the bullet retrieval transverse movement device 21 is arranged on the bullet retrieval bracket 24.

[0059] Reference Figure 11 and 16 As shown; the arrows 5 are placed on the material rack; the arrows 5 are generally placed in the downward direction with the arrows pointing. At the same time, in order to prevent the arrows 5 from falling sideways, the arrows 5 are tilted on the material 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.

[0060] The bullet retrieval clamping device 23 includes a bullet retrieval clamping cylinder 231 and a bullet retrieval clamping hand 232; the bullet retrieval clamping hand 232 includes two bullet retrieval clamping members 2321; one bullet retrieval clamping member 2321 is connected to one output end of the bullet retrieval clamping cylinder 231, and the other bullet retrieval clamping member 2321 is connected to the other output end of the bullet retrieval clamping cylinder 231; each bullet retrieval clamping member 2321 includes more than two bullet retrieval clamping parts 2322; the bullet retrieval clamping parts 2322 connected to one output end of the bullet retrieval clamping cylinder 231 and the bullet retrieval clamping parts 2322 connected to the other output end of the bullet retrieval clamping cylinder 231 are alternately arranged.

[0061] 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.

[0062] The bullet taking and clamping cylinder 231 drives the loading and unloading clip hands 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 hands 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 parts 2322 at one output end of the bullet taking and clamping cylinder 231 swing in one direction, and the bullet taking and clamping parts 2322 at the other output end of the bullet taking and clamping cylinder 231 swing in the opposite direction of the relative bullet taking and clamping parts 2322, so that the clamping effect of the arrow 5 is good.

[0063] 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 in the clamping area 2325, further improving the grip on the arrow 5. In this embodiment, the loading and unloading clamping cylinder and the loading and unloading clamping cylinder 231 have the same structure; the loading and unloading gripper and the unloading gripper 232 have the same structure; a gripping sensor 46 is provided on the unloading clamping cylinder to detect an arrow. When the gripping sensor 46 on the unloading clamping cylinder detects an arrow, the unloading gripper grips the arrow. A gripping sensor is also provided on the loading and unloading clamping cylinder; when the gripping sensor on the loading and unloading clamping cylinder detects an arrow, the loading and unloading gripper grips the arrow.

[0064] 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 drive 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 drive device 213 drives the bullet retrieval transverse movement bracket 22 to slide synchronously on the transverse movement bracket 211 and the transverse movement bracket 211 on the transverse movement lower plate 212.

[0065] 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 .

[0066] 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 2 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.

[0067] 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.

[0068] The first transverse clamping device 2135 is clamped on the transverse belt 2134 above the transverse bracket 2113 and is fixedly connected to the ammunition retrieval 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 ammunition retrieval 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 rail 214 and a first transverse slider 215. The first transverse rail 214 is provided at the top of the transverse bracket 2113, and the first transverse slider 215 is slidably provided on the first transverse rail 214. The top of the first transverse slider 215 is fixedly connected to the ammunition retrieval transverse bracket 22.

[0069] 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 .

[0070] 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 1 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 2 2112.

[0071] Since the lower transverse plate 212 is fixed on the bullet retrieval bracket 24, the bullet retrieval transverse movement bracket 22 is slidably connected to the transverse movement bracket 211, and the transverse movement bracket 211 is slidably connected to the lower transverse plate 212; and the upper end of the transverse belt 2134 is fixedly connected to the bullet retrieval transverse movement bracket 22 through the first transverse movement clamping device 2135, and the lower end of the transverse belt 2134 is fixedly connected to the transverse lower plate 212 through the second transverse movement clamping device 2136; in this way, when the transverse driving motor 2131 rotates in one direction, the first transverse clamping device 2135 approaches the second transverse transmission wheel 2133, and the first transverse clamping device 2135 drives the bullet retrieval transverse movement bracket 22 to approach the second transverse movement The lateral moving bracket 211 moves in the direction of the second lateral moving transmission wheel 2133; and the second lateral moving clamping device 2136 approaches the first lateral moving transmission wheel 2132, and since the lateral moving lower plate 212 is fixed on the frame 1, this will drive the lateral moving bracket 211 to move in the direction close to the second lateral moving transmission wheel 2133; and when the lateral moving drive motor 2131 rotates in the opposite direction, the bullet retrieval lateral moving bracket 22 and the lateral moving bracket 211 will both move in the direction close to the first lateral moving transmission wheel 2132; in this way, the bullet retrieval lateral moving bracket 22 and the lateral moving bracket move in the same direction at the same time, and the bullet retrieval lateral moving bracket moves on the basis of the movement of the lateral moving bracket; thus, the bullet retrieval lateral moving bracket 22 has a wide range of movement.

[0072] In this embodiment, the length of the loading device is greater than that of the retrieving device. When the loading device and the retrieving device are arranged in parallel, the loading clamping device extends out of the retrieving clamping device. In this way, the arrow clamped by the loading clamping device is also parallel to the arrow clamped by the retrieving clamping device. When the loading rotation 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.

[0073] like Figure 18 As shown, the bullet removal method includes the following steps:

[0074] (1) The transverse 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.

[0075] (2) A bullet-taking and holding device holds an arrow at the end of the arrow shaft near the arrow head.

[0076] (3) The bullet retrieval and transverse movement device drives the bullet retrieval and transverse movement bracket to move, so that the bullet retrieval clamping device holding the arrow is positioned corresponding to the position of the bullet loading clamping device.

[0077] (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 near the arrow tail; the retrieval and holding device releases its grip on the arrow; the loading and holding device rotates toward the throwing device and provides the arrow to the throwing device.

[0078] (5) After the loading and holding device provides the arrow 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 arrow corresponds to the position of the loading and holding device.

[0079] (6) Repeat (4)-(5) until all the arrows on the bullet removal device are provided to the bullet loading clamping device.

[0080] In the above method, before the bullet retrieval clamping device clamps the arrow, the bullet retrieval transverse bracket moves, so that the bullet retrieval clamping device and the loading clamping device are arranged alternately; thus, the loading clamping device is prevented from interfering with the bullet retrieval clamping device in clamping the arrow.

[0081] When the transverse drive motor rotates, the first transverse clamping device moves in one direction, driving the ammunition retrieval clamping device on the ammunition retrieval transverse moving bracket to move; at the same time, the second transverse clamping device drives the transverse lower plate to move in the opposite direction of the first transverse clamping device. However, since the transverse lower plate is fixed, under the action of the second transverse clamping device, the transverse drive motor drives the transverse bracket to move on the transverse lower plate. At the same time, since the first transverse clamping device and the second transverse clamping device move synchronously, the ammunition retrieval transverse bracket on the transverse bracket and the transverse bracket on the transverse lower plate can achieve synchronous sliding. In this way, the ammunition retrieval clamping device has a wide range of movement and a fast movement speed.

[0082] The arrow can only be thrown when the direction of the arrow head is consistent with the throwing direction of the throwing support 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. In this way, when the bullet loading clamping device is rotated, the arrow can match the throwing device.

[0083] In the above method,

[0084] (1) Specifically, the lateral drive device drives the retrieval lateral movement bracket and the lateral movement bracket to move simultaneously in the 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.

[0085] In (2), the retrieval clamping device holds an arrow. Specifically, the retrieval clamping cylinder drives the retrieval clamping hand to open. 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 because the clamping sensor detects the arrow and controls the clamping hand.

[0086] In another embodiment, there are two loading and holding devices; the distance between the two loading and holding devices is relative to the distance between two of the retrieval holding devices. When there are two loading and holding devices, (3) is: if all of the retrieval holding devices hold arrows, proceed to (3.1); if arrows are held by both of the retrieval holding devices, proceed to (3.2).

[0087] (3.1) The transverse drive motor drives the transverse clamping device toward the second transverse transmission wheel and the transverse bracket 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.

[0088] (3.2) The transverse drive motor drives the transverse clamping device to move toward the second transverse transmission wheel and the transverse bracket to move synchronously toward the second transverse transmission wheel, so that a bullet-taking clamping device corresponds to a bullet-loading clamping device or another bullet-loading clamping device.

[0089] When all the retrieval and clamping devices have arrows clamped, another retrieval and clamping device corresponds to one loading and clamping device, and another retrieval and clamping device corresponds to another loading and clamping device; arrows can be provided to both loading and clamping devices at the same time; at the same time, one retrieval and clamping device also clamps arrows, thereby further increasing the storage quantity of arrows; when arrows from the other retrieval and clamping devices and the still other retrieval and clamping device are clamped, one retrieval and clamping device provides arrows to one loading and clamping device or another loading and clamping device, and then provides arrows to one of the throwing devices.

Claims

1. A method for retrieving material, wherein a retrieval device provides arrows to a loading device, and the loading device provides arrows to a throwing device, wherein the throwing device and the loading device are each provided with at least two, each loading device including a loading rotation device and a loading clamping device, wherein the loading rotation device drives the loading clamping device to rotate, and the loading clamping device is used to clamp an arrow, wherein the arrow includes an arrowhead, an arrow shaft, and an arrow nock, wherein the arrowhead is larger than the arrow shaft, and wherein: The ammunition retrieval device includes an ammunition retrieval transverse movement device, an ammunition retrieval transverse movement bracket, and one or more ammunition retrieval clamping devices; the output end of the ammunition retrieval transverse movement device is connected to the ammunition retrieval transverse movement bracket, and the one or more ammunition clamping devices are arranged on the ammunition retrieval transverse movement bracket; the ammunition retrieval transverse movement device drives the ammunition clamping devices to move back and forth; The ammunition 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 fixedly arranged, and the transverse movement bracket is slidably arranged on the transverse movement lower plate; the ammunition retrieval transverse movement bracket is slidably arranged on the transverse movement bracket; the transverse movement driving device drives the ammunition retrieval 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 transmission wheel, a second transverse transmission wheel, a transverse belt, a first transverse clamping device and a second transverse clamping device; The first transverse transmission wheel is provided at one end of the transverse support, and the second transverse transmission wheel is provided at the other end of the transverse support; the output end of the transverse drive motor is connected to the first transverse transmission wheel; and the transverse belt is sleeved 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 ammunition 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; The bullet taking and holding device includes a bullet taking and holding cylinder and a bullet filling clip hand; the bullet taking and holding clip hand is connected to the bullet taking and holding cylinder; The retrieval hand includes two retrieval clamping members; one retrieval clamping member is connected to one output end of the retrieval clamping cylinder, and the other retrieval clamping member is connected to the other output end of the retrieval clamping cylinder; the retrieval clamping member includes two or more retrieval clamping parts; the retrieval clamping part connected to one output end of the retrieval clamping cylinder and the retrieval clamping part connected to the other output end of the retrieval clamping cylinder are alternately arranged; The bullet removal clamping part includes a first clamping part, an arc-shaped second clamping part extending from the first clamping part, 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; The retrieval clamping cylinder drives the retrieval clamping hand to clamp or open, thereby clamping or removing the arrow; adjacent clamping areas are stacked to extend the clamping length of the retrieval clamping hand; the retrieval clamping parts connected to the two output ends of the retrieval clamping cylinder are alternately arranged, and the retrieval clamping part at one output end of the retrieval clamping cylinder swings in one direction, while the retrieval clamping part at the other output end of the retrieval clamping cylinder swings in the opposite direction of the opposite retrieval clamping part; a protrusion extends from the clamping area at one end of the second clamping part away from the first clamping part; The material taking method comprises the following steps: (1) The lateral drive motor drives the lateral clamping device to move toward the first lateral transmission wheel, and the lateral bracket moves toward the first lateral transmission wheel synchronously, and one or more bullet-taking clamping devices and one or more bullet-loading clamping devices are alternately arranged; (2) A bullet-removing and holding device holds an arrow at the end of the arrow shaft near the arrow head; (3) The retrieval transverse movement device drives the retrieval transverse movement bracket to move, so that a retrieval clamping device holding an arrow corresponds to the position of the loading clamping device. When all the retrieval clamping devices are holding arrows, another retrieval clamping device corresponds to a loading clamping device, and another retrieval clamping device corresponds to another loading clamping device. Arrows can be provided to two loading clamping devices at the same time. At the same time, one retrieval clamping device also holds arrows, thereby further increasing the storage quantity of arrows. When arrows of the other retrieval clamping device and the other retrieval clamping device are all clamped, one retrieval clamping device provides arrows to one loading clamping device or another loading clamping device, and then provides arrows to one of the throwing devices. (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 near the tail, the retrieval and holding device releases its grip on the arrow; (5) After the loading and holding device provides the arrow for the throwing device, the transverse driving motor drives the transverse clamping device toward the second transverse transmission wheel and the transverse bracket moves synchronously toward the second transverse transmission wheel, so that the other bullet-taking clamping device holding the arrow corresponds to the position of the loading and holding device; (6) Repeat (4)-(5) until all the arrows on the bullet removal device are provided to the bullet loading clamping device.

2. A material taking method according to claim 1, characterized in that: (1) Specifically, the lateral drive device drives the retrieval lateral movement bracket and the lateral movement bracket to move simultaneously in the 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.

3. A material taking method according to claim 1, characterized in that: (2) In the embodiment, 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.

4. A material taking method according to claim 3, characterized in that: There are two loading devices, and the distance between the two loading clamping devices is opposite to the distance between two of the retrieving clamping devices.

5. A material taking method according to claim 4, characterized in that: When there are two loading and holding devices, (3) is: if all the loading and holding devices hold arrows, proceed to (3.1); if arrows are held by two of the loading and holding devices, proceed to (3.2); (3.1) The transverse drive 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 one bullet-loading clamping device, and another bullet-taking clamping device corresponds to another bullet-loading clamping device; (3.2) The transverse drive motor drives the transverse clamping device to move toward the second transverse transmission wheel and the transverse bracket to move synchronously toward the second transverse transmission wheel, so that a bullet-taking clamping device corresponds to a bullet-loading clamping device or another bullet-loading clamping device.

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