An archery robot

Abstract

The invention provides an archery robot, wherein a bullet taking device, a throwing device and a bullet loading device are arranged on a frame body, the throwing device is provided with a throwing supporting cavity; the bullet loading device comprises a bullet loading clamping device, the bullet taking device comprises a bullet loading clamping device, the throwing supporting cavity is used for supporting arrows, the bullet loading clamping device and the bullet taking clamping device are both used for clamping arrows, the bullet loading clamping device clamps the arrows and places them on the throwing supporting cavity, the throwing supporting cavity limits the arrows; the arrows placed on the throwing supporting cavity are not separated from the throwing supporting cavity by the influence of gravity, and the loading of arrows is realized; the operation of loading arrows is simple; when the bullet loading clamping device places the clamped arrows into the throwing supporting cavity and are thrown out, the bullet loading clamping device clamps the arrows on the bullet taking clamping device and provides them to the throwing supporting cavity; the arrows are stored, and the throwing device can throw arrows multiple times.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an archery robot. 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 With the development of science and technology, traditional manual archery has gradually been replaced by robot archery due to its single technology and poor technical content.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 at the same time, the structure only clamps one arrow at a time, which is inefficient. Summary of the invention

[0005] The present invention provides an archery robot, wherein a loading and swinging driving device drives a loading and clamping device to place a clamped arrow on a casting support cavity, and the casting support cavity limits the arrow; the arrow placed on the casting support cavity is not affected by gravity and is separated from the casting support cavity, so that the arrow is loaded; the operation of loading the arrow is simple; the loading device is provided with arrows by a bullet taking device, and the arrows are stored, so that the casting device can cast arrows multiple times.

[0006] To achieve the above-mentioned purpose, the technical solution of the present invention is: an archery robot, including a frame, on which are provided a bullet taking device, one or more throwing devices and one or more bullet filling devices, the throwing device is arranged above the bullet filling device, and the bullet filling device is arranged above the bullet taking device.

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

[0008] The casting swing bracket includes a first supporting member, and the casting supporting bracket includes a second supporting member; the second supporting member is located between the first supporting member and the loading device; the first supporting member and the second supporting member are respectively provided with an inclined casting supporting cavity; the height of one end of the casting supporting cavity close to the loading device is lower than the height of one end of the casting supporting cavity away from the loading device; the casting supporting cavity is used to support the arrow and limit the arrow.

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

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

[0011] In the above arrangement, the loading and clamping device is used to clamp the arrow, and the casting supporting cavity is used to support the arrow; a swingable loading and clamping device is provided, and a loading and swinging driving device drives the loading and clamping device to place the clamped arrow on the casting supporting cavity, and the casting supporting cavity limits the arrow; the arrow placed on the casting supporting cavity is not affected by gravity and is separated from the casting supporting cavity; in this way, the loading of the arrow is achieved; the operation of loading the arrow is simple; the casting swinging bracket is driven away from the casting supporting bracket by the casting driving device, and the first supporting member drives the arrow to separate from the casting supporting cavity and cast the arrow.

[0012] The loading clamping device is connected to the loading rotating device. The loading rotating device is used to drive the loading clamping device to rotate. When the loading clamping device can clamp arrow shafts with different arrow orientations, the loading rotating device drives the loading clamping device to rotate, so that the arrow orientation of the arrow shaft can be straightened, making the arrow orientation of the arrow shaft consistent with the throwing direction of the throwing swing bracket. Then, the arrow shaft placed on the throwing support cavity can be thrown. At the same time, by driving the loading clamping device with the loading rotating device, the clamping direction of the loading clamping device can be changed, keeping the clamping direction of the loading clamping device perpendicular to the arrow shaft. Thus, the loading clamping device can clamp arrow shafts with different placement angles.

[0013] By providing a bullet-taking device, the bullet-taking device is used to provide arrow shafts for the loading clamping device, and the arrow shaft is clamped by the loading clamping device and the bullet-taking clamping device at the same time; when the arrow shaft clamped by the loading clamping device is placed in the throwing support cavity and projected; the loading clamping device clamps the arrow shaft clamped by the bullet-taking clamping device and provides it to the throwing support cavity; in this way, the arrow shafts are reserved, and the throwing device can throw arrow shafts multiple times. Since there are more than two throwing devices and loading devices, by providing a bullet-taking transverse movement device, the bullet-taking transverse movement device drives the bullet-taking clamping device to move, so that arrow shafts can be provided for the loading device.

[0014] Furthermore, the throwing device further includes a throwing rotating device, and the throwing rotating device includes a throwing rotating bearing, a throwing rotating driven gear, a throwing rotating driving gear, a throwing rotating belt and a throwing rotating motor.

[0015] The inner ring of the throwing rotating bearing and the throwing rotating motor are both fixed on the frame body. The outer ring of the throwing rotating bearing is connected to one side of the throwing rotating driven gear, and the throwing rotating motor is connected to the throwing rotating driving gear; the throwing rotating belt is sleeved on the throwing rotating driven gear and the throwing rotating driving gear; the throwing support bracket is fixed on the other side of the throwing rotating driven gear; the throwing rotating motor drives the throwing support cavity to rotate.

[0016] With the above settings, the throwing support bracket is fixed on the throwing rotating device, and at the same time, the throwing swing bracket is arranged on the throwing support bracket; the throwing rotating device drives the throwing swing bracket and the throwing support bracket to rotate simultaneously, and then drives the rotation of the throwing support cavity, so that the throwing direction of the throwing support cavity can be changed; the throwing range of the throwing device is large; at the same time, the rotation of the throwing device is realized through the cooperation of the throwing rotating bearing, the throwing rotating driven gear, the throwing rotating driving gear, the throwing rotating belt and the throwing rotating motor, and the structure is simple.

[0017] Furthermore, the throwing rotation device also includes an annular throwing rotation upper limit plate and a throwing rotation lower limit plate; one side of the throwing rotation driven gear is connected to the outer ring of the throwing rotation bearing through the throwing rotation lower limit plate; the throwing support bracket is connected to the other side of the throwing rotation driven gear through the throwing rotation upper limit plate; the outer peripheral edges of the throwing rotation upper limit plate and the throwing rotation lower limit plate are both protruding outward relative to the throwing rotation driven gear.

[0018] The above arrangement is achieved by arranging an upper limit plate for casting rotation and a lower limit plate for casting rotation, whose outer peripheral edges protrude outwardly relative to the casting rotation driven gear; the upper limit plate for casting rotation and the lower limit plate for casting rotation limit the casting rotation belt, so that the casting rotation belt will not separate from the casting rotation driven gear when rotating; thus, the transmission reliability is high.

[0019] Furthermore, the bullet filling clamping device is rotatably arranged on the bullet filling swing bracket; the bullet filling rotation device includes a bullet filling rotation motor, a bullet filling rotation driving gear, and a bullet filling rotation driven gear; the bullet filling rotation motor is fixed on the bullet filling swing bracket, and the output end of the bullet filling rotation motor is connected to the bullet filling rotation driving gear; the bullet filling clamping device is inserted into the bullet filling rotation driven gear and is fixedly connected to the bullet filling rotation driven gear; the bullet filling rotation driving gear is meshed with the bullet filling rotation driven gear.

[0020] In the above arrangement, the bullet-loading clamping device is inserted into and meshed with the bullet-loading rotating driven gear; the bullet-loading rotating driving gear is meshed with the bullet-loading rotating driven gear; and the bullet-loading clamping device is driven to rotate by the bullet-loading rotating motor, so that the size of the bullet-loading rotating device is small.

[0021] Furthermore, the loading bullet rotating driven gear is provided with a loading bullet through hole; the loading bullet clamping device includes a loading bullet clamping cylinder and a loading bullet clamping hand; the loading bullet clamping cylinder is penetrated on the loading bullet connecting hole and is fixedly connected to the loading bullet rotating driven gear.

[0022] The loading clip hand includes two loading clips; one loading clip is connected to one output end of the loading clip cylinder, and the other loading clip is connected to the other output end of the loading clip cylinder; the loading clip includes more than two loading clip parts; the loading clip part connected to one output end of the loading clip cylinder and the loading clip part connected to the other output end of the loading clip cylinder are alternately arranged.

[0023] The bullet-loading clamping part comprises a first clamping part, on which an arc-shaped second clamping part extends, and a clamping area is formed between the second clamping part and the first clamping part; the clamping areas of adjacent bullet-loading clamps are stacked.

[0024] With the above settings, the loading clamping cylinder drives the clamping or opening of the loading clamp hand to clamp or unload the arrow; the adjacent clamping areas are stacked to extend the clamping length of the loading clamp hand, enabling better clamping of the arrow; at the same time, the loading clamping parts connected to the two output ends of the loading clamping cylinder are arranged alternately. The loading clamping part at one output end of the loading clamping cylinder swings in one direction, and the loading clamping part at the other output end of the loading clamping cylinder swings in the opposite direction to the relative loading clamping part, resulting in a good clamping effect on the arrow.

[0025] Further, a convex portion extends from the clamping area at one end of the second clamping portion away from the first clamping portion.

[0026] With the above settings, the convex portion reduces the space of the clamping area, further enhancing the clamping of the arrow.

[0027] Further, the arrow-taking device further includes an arrow-taking support. The arrow-taking support is arranged on the frame body, and the horizontal height of the side of the arrow-taking support close to the loading device is higher than the horizontal height of the side of the arrow-taking support away from the loading device; the arrow-taking transverse movement device is arranged on the arrow-taking support.

[0028] With the above settings, the arrows are generally placed with the arrowheads facing downwards. At the same time, to prevent the arrows from tilting and falling, the arrows are inclined on the rack; by providing an inclined arrow-taking support plate, the arrow-taking support is also inclined, and thus the arrow-taking clamping device mounted on the arrow-taking support is also inclined; in this way, the cooperation effect between the inclined arrow-taking clamping device and the inclined-placed arrows is good.

[0029] Further, a supporting portion is provided on the first supporting member, and the supporting portion is used to fit with the arrowhead of the arrow and support the supporting portion.

[0030] With the above settings, the arrowhead of the arrow is supported by the supporting portion, and thus the arrow can be placed more stably in the throwing support cavity.

[0031] Further, a moving device is provided on the frame body, and the moving device is used to drive the frame body to move. By driving the frame body to move through the moving device, the frame body is moved closer to the projection target. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a three-dimensional schematic diagram of the present invention.

[0033] Figure 2 is a three-dimensional schematic diagram of the throwing device in the present invention.

[0034] Figure 3 is Figure 2 an enlarged view of a in

[0035] Figure 4It is an exploded view of the throwing device in the present invention, removing the throwing rotation driving gear, the throwing rotation belt and the throwing rotation motor.

[0036] Figure 5 It is a perspective schematic view of the ammunition loading device in the present invention.

[0037] Figure 6 It is an exploded view of the ammunition loading device in the present invention.

[0038] Figure 7 It is an exploded view of the ammunition loading clamping device and the ammunition loading rotation driven gear in the present invention.

[0039] Figure 8 It is Figure 7 an enlarged view of b in

[0040] Figure 9 It is a schematic view of the ammunition loading clamping device in the present invention in an open state.

[0041] Figure 10 It is a schematic view of the ammunition loading clamping device in the present invention in a clamped state.

[0042] Figure 11 It is a perspective schematic view of the arrow taking device in the present invention.

[0043] Figure 12 It is an exploded view of the arrow taking device in the present invention.

[0044] Figure 13 It is an exploded view of the arrow taking transverse movement device in the present invention.

[0045] Figure 14 It is a schematic view of the present invention in cooperation with an arrow rack with arrows placed on it.

[0046] Figure 15 It is a schematic view of the ammunition loading clamping device in the present invention clamping an arrow.

[0047] Figure 16 It is a schematic view of the ammunition loading clamping device in the present invention after rotation.

[0048] Figure 17 It is a schematic view of the ammunition loading clamping device in the present invention swinging towards the throwing support cavity.

[0049] Figure 18 It is a schematic view of an arrow placed in the throwing support cavity.

[0050] Figure 19 It is a front view of an arrow placed on the arrow rack.

[0051] Figure 20 It is a schematic view of the arrow taking transverse movement bracket moving in the present invention. Detailed implementation manners

[0052] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] like Figure 1 - 20 As shown, an archery robot includes a frame 1, on which a bullet-taking device 2, one or more throwing devices 3 and one or more bullet-loading devices 4 are arranged, the throwing devices 3 are arranged above the bullet-loading devices 4, and the bullet-loading devices 4 are arranged above the bullet-taking device 2. In this embodiment, two throwing devices 3 and two bullet-loading devices 4 are arranged; one bullet-loading device 4 corresponds to one throwing device 3.

[0054] The throwing device 3 includes a throwing rotating device 31, a throwing driving device 32, a throwing swing bracket 33 and a throwing supporting bracket 34; the throwing rotating device 31 is installed on the frame 1, the throwing supporting bracket 34 is installed on the throwing rotating device 31, and the throwing swing bracket 33 is movably arranged on the throwing supporting bracket 34; the throwing driving device 32 is connected to the throwing swing bracket 33 and drives one end of the throwing swing bracket 33 to approach or move away from the throwing supporting bracket 34; along the swinging direction of the throwing swing bracket 33, the bullet loading device 4 is arranged between the throwing device 3 and the bullet taking device 2. The throwing rotating device 31 drives the throwing driving device 32, the throwing swing bracket 33 and the throwing supporting bracket 34 to rotate synchronously. In this way, the throwing direction of the throwing supporting cavity 36 can be changed; the throwing range of the throwing device 3 is large.

[0055] In this embodiment, a support frame 35 is provided on the casting support bracket 34 , and the support frame 35 supports the casting swing bracket 33 and limits the swing amplitude of the casting swing bracket 33 toward the casting support bracket 34 .

[0056] like Figure 3 As shown, the casting swing bracket 33 includes a first supporting member 331, and the casting supporting bracket 34 includes a second supporting member 341; the second supporting member 341 is located between the first supporting member 331 and the bullet-loading device 4; the first supporting member 331 and the second supporting member 341 are respectively provided with an inclined casting supporting cavity 36; the height of the casting supporting cavity 36 close to the bullet-loading device 4 is lower than the height of the casting supporting cavity 36 away from the bullet-loading device 4; the casting supporting cavity 36 is used to support the arrow 5, and the first supporting member 331 limits the arrow 5. Figure 18 and 19 As shown, the arrow 5 includes an arrowhead 51, an arrow shaft 52 and a tail 53; the ends of the arrow shaft 52 are respectively connected to the arrowhead 51 and the tail 53; the cross-sectional size of the arrowhead 51 is larger than the cross-sectional size of the arrow shaft 52; and the size of the casting support cavity 36 matches the arrow shaft 52, and the top end of the casting support cavity 36 realizes the limitation of the arrow 5 to prevent the arrow 5 from escaping from the casting support cavity 36 under the action of gravity.

[0057] like Figure 5As shown, the loading device 4 includes a loading swing driving device 41, a loading swing bracket 42, a loading rotation device 43 and a loading clamping device 44; the loading clamping device 44 is used to clamp the arrow 5. The loading swing driving device 41 is fixed to the frame 1 through the loading fixed bracket, and the output end of the loading swing driving device 41 is connected to the loading swing bracket 42; the loading rotation device 43 is fixed to the loading swing bracket 42, and the loading clamping device 44 is rotatably arranged on the loading swing bracket 42; the output end of the loading rotation device 43 is connected to the loading clamping device 44; the loading clamping device 44 is used to clamp the arrow body to be launched, and the loading rotation device 43 is used to drive the loading clamping device 44 to rotate.

[0058] A swingable loading and clamping device 44 is provided, and a loading and clamping swinging driving device 41 drives the loading and clamping device 44 to place the clamped arrow 5 on the throwing supporting cavity 36, and the throwing supporting cavity 36 limits the arrow 5; the arrow 5 placed on the throwing supporting cavity 36 is not affected by gravity and is separated from the throwing supporting cavity 36; in this way, the loading of the arrow 5 is achieved; the operation of loading the arrow 5 is simple; the throwing driving device 32 drives the throwing swinging bracket 33 away from the throwing supporting bracket 34, and the first supporting member 331 drives the arrow 5 to separate from the throwing supporting cavity 36 and throw the arrow 5.

[0059] The bullet-loading clamping device 44 is connected to the bullet-loading rotating device 43, and the bullet-loading rotating device 43 is used to drive the bullet-loading clamping device 44 to rotate. When the bullet-loading clamping device 44 can clamp arrows 5 with different arrow directions, the bullet-loading rotating device 43 drives the bullet-loading clamping device 44 to rotate, so that the arrow direction of the arrow 5 can be adjusted, so that the arrow direction of the arrow 5 is consistent with the casting direction of the casting swing bracket 33, and then the arrow 5 placed on the casting support cavity 36 can be cast. At the same time, the bullet-loading rotating device 43 drives the bullet-loading clamping device 44, so that the clamping direction of the bullet-loading clamping device 44 can be changed, and the clamping direction of the bullet-loading clamping device 44 is kept perpendicular to the arrow 5, so that the bullet-loading clamping device 44 can clamp arrows 5 with different placement angles.

[0060] Together Figure 11As shown, the arrow extraction device 2 is used to provide the arrow 5 for the loading clamping device 44; the arrow extraction device 2 includes an arrow extraction transverse movement device 21, an arrow extraction transverse movement support 22, and more than one arrow extraction clamping device 23; the arrow extraction clamping device 23 is used to clamp the arrow 5. In this embodiment, there are three arrow extraction clamping devices 23; the arrow extraction transverse movement device 21 is arranged on the frame body 1, the output end of the arrow extraction transverse movement device 21 is connected to the arrow extraction transverse movement support 22, and more than one arrow extraction clamping device 23 is arranged on the arrow extraction transverse movement support 22; the arrow extraction transverse movement device 21 drives the arrow extraction clamping device 23 to move in the direction perpendicular to the swinging direction of the throwing swing support 33; the loading swing driving device 41 is used to drive the loading clamping device 44 to swing between the throwing support cavity 36 and the arrow extraction clamping device 23.

[0061] By setting the arrow extraction device 2, the arrow 5 is clamped by the loading clamping device 44 and the arrow extraction clamping device 23 at the same time; after the arrow 5 clamped by the loading clamping device 44 is placed in the throwing support cavity 36 and projected; the loading clamping device 44 clamps the arrow 5 clamped by the arrow extraction clamping device 23 and provides it to the throwing support cavity 36; in this way, the storage of the arrow 5 is realized, and the throwing device 3 can project the arrow 5 multiple times. Since there are more than two throwing devices 3 and loading devices 4, by setting the arrow extraction transverse movement device 21, the arrow extraction transverse movement device 21 drives the arrow extraction clamping device 23 to move, so that the arrow 5 can be provided for the loading device 4.

[0062] In another embodiment, the arrow extraction device 2 further includes an arrow extraction support 24; the arrow extraction support 24 is fixed on the frame body 1, the horizontal height of the side of the arrow extraction support 24 close to the loading device 4 is higher than the horizontal height of the side of the arrow extraction support 24 far from the loading device 4; the arrow extraction transverse movement device 21 is arranged on the arrow extraction support 24. Refer to Figure 14 and 19 As shown; the arrow 5 is placed on the arrow placement rack 50; the arrow 5 is generally placed with the arrowhead facing downwards. At the same time, in order to prevent the arrow 5 from tilting and falling, the arrow 5 is inclined and erected on the rack; by setting the inclined arrow extraction support plate, the arrow extraction support 24 is also inclined, and thus the arrow extraction clamping device 23 installed on the arrow extraction support 24 is also inclined; in this way, the cooperation effect between the inclined arrow extraction clamping device 23 and the inclined arrow 5 is good.

[0063] As Figure 2 - 4 shown, the throwing rotation device 31 includes a throwing rotation bearing 311, a throwing rotation driven gear 312, a throwing rotation driving gear 313, a throwing rotation belt 314, and a throwing rotation motor 315. In this embodiment, the throwing driving device 32, the throwing swing support 33, and the throwing support bracket 34 rotate along the circumferential direction of the throwing rotation bearing 311.

[0064] The inner ring of the throwing rotation bearing 311 and the throwing rotation motor 315 are both fixed on the frame 1, the outer ring of the throwing rotation bearing 311 is connected to one side of the throwing rotation driven gear 312, and the throwing rotation motor 315 is connected to the throwing rotation driving gear 313; the throwing rotation leather cover is arranged on the throwing rotation driven gear 312 and the throwing rotation driving gear 313; the throwing support bracket 34 is fixed on the other side of the throwing rotation driven gear 312; the throwing rotation motor 315 drives the throwing support cavity 36 to rotate.

[0065] The casting support bracket 34 is fixed on the casting rotating device 31, and the casting swing bracket 33 is arranged on the casting support bracket 34; the casting swing bracket 33 and the casting support bracket 34 are driven to rotate simultaneously through the casting rotating device 31, thereby driving the rotation of the casting support cavity 36, and at the same time, the casting rotation driving gear 313 rotates and then the casting rotation driven gear 312 is driven to rotate through the casting rotation belt 314, the rotating driven gear 312 is fixedly connected to the outer ring of the casting rotation bearing 311, and the inner ring of the casting rotation bearing 311 is fixed on the frame 1, so that the casting device 3 is driven to rotate, and the casting device 3 is rotated by the cooperation of the casting rotation bearing 311, the casting rotation driven gear 312, the casting rotation driving gear 313, the casting rotation belt 314 and the casting rotation motor 315, and the structure is simple.

[0066] In another embodiment, the casting rotation device 31 further includes an annular casting rotation upper limit plate 316 and a casting rotation lower limit plate 317; one side of the casting rotation driven gear 312 is connected to the outer ring of the casting rotation bearing 311 through the casting rotation lower limit plate 317; the casting support bracket 34 is connected to the other side of the casting rotation driven gear 312 through the casting rotation upper limit plate 316; the outer peripheral edges of the casting rotation upper limit plate 316 and the casting rotation lower limit plate 317 are both protruding outward relative to the casting rotation driven gear 312. By setting the casting rotation upper limit plate 316 and the casting rotation lower limit plate 317, the casting rotation upper limit plate 316 and the casting rotation lower limit plate 317, which are both protruding outward relative to the casting rotation driven gear 312, limit the casting rotation belt 314 by the casting rotation upper limit plate 316 and the casting rotation lower limit plate 317, so that the casting rotation belt 314 will not be separated from the casting rotation driven gear 312 when rotating; thus, the transmission reliability is high.

[0067] The throwing rotation device 31 further includes a tensioning structure; the tensioning structure is arranged between the throwing rotation driven gear 312 and the throwing rotation driving gear 313; the tensioning structure includes a tensioning bracket 318, and the tensioning bracket 318 is fixed on the frame body 1; a tensioning wheel 319 is arranged on the tensioning bracket 318; a tensioning area is formed between the tensioning bracket 318 and the tensioning wheel 319; the throwing rotation belt 314 passes through the tensioning area and is sleeved on the throwing rotation driven gear 312 and the throwing rotation driving gear 313. The belt between the throwing rotation driven gear 312 and the throwing rotation driving gear 313 is tensioned and restricted by the tensioning structure, so that the driving of the throwing rotation driven gear 312 and the throwing rotation driving gear 313 is more reliable and effective.

[0068] As Figure 6 shown, at one end of the loading swing bracket 42, there is a first loading swing plate body 421, and at the other end of the loading swing bracket 42, there is a second loading swing plate body 422; the first loading swing plate body 421 and the second loading swing plate body 422 are arranged in parallel; on the first loading swing plate body 421, there is a first swing opening 423; on the second loading swing plate body 422, there is a second swing opening 424; the centers of the first swing opening 423 and the second swing opening 424 are coaxially arranged.

[0069] The loading clamping device 44 is rotatably connected to the first swing opening 423 through the first loading rotating bearing 451; the loading clamping device 44 is rotatably connected to the second swing opening 424 through the second loading rotating bearing 452.

[0070] As Figure 6 - 8 shown, 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 motor 431 is fixed on the loading swing bracket 42, and the output end of the loading rotation motor 431 is connected to the loading rotation driving gear 432; the loading clamping device 44 is penetrated through the loading rotation driven gear 433 and is fixedly connected to the loading rotation driven gear 433, and on the loading rotation driven gear 433, there is a loading perforation 4331; the loading clamping device 44 is penetrated through the loading perforation 4331 and is fixedly connected to the loading rotation driven gear 433; the loading rotation driving gear 432 meshes with the loading rotation driven gear 433. Since the loading clamping device 44 is rotatably arranged on the loading swing bracket 42, the loading rotation motor 431 drives the loading clamping device 44 to rotate along the axes of the first swing opening 423 and the second swing opening 424.

[0071] The ammunition loading clamping device 44 is sleeved on the ammunition loading rotating driven gear 433 and is connected to the ammunition loading rotating driven gear 433; the ammunition loading rotating driving gear 432 meshes with the ammunition loading rotating driven gear 433; the ammunition loading clamping device 44 is driven to rotate by the ammunition loading rotating motor 431, so that the volume of the ammunition loading rotating device 43 can be reduced.

[0072] The ammunition loading clamping device 44 includes an ammunition loading clamping cylinder 441, an ammunition loading gripper 443 and a fastening assembly 442. The ammunition loading clamping cylinder 441 is sleeved on the ammunition loading connection hole and is fixedly connected to the ammunition loading rotating driven gear 433.

[0073] Such as Figure 6 、 7 As shown in the figure, there are two sets of fastening assemblies 442, and the two fastening assemblies 442 are arranged oppositely; one set of fastening assemblies 442 is arranged on one side of the ammunition loading clamping cylinder 441, and the other set of fastening assemblies 442 is arranged on the other side of the ammunition loading clamping cylinder 441; each set of fastening assemblies includes a first fastener 4421 and a second fastener 4422.

[0074] The first fastener 4421 includes a first fastening part 4423, the first fastening part 4423 is connected to the side surface of the ammunition loading clamping cylinder 441, the first ammunition loading rotating bearing 451 is sleeved on the surfaces of the two first fastening parts 4423 and is arranged in the first swinging opening 423; a second fastening part 4424 is provided at the top of the first fastening part 4423; the second fastening part 4424 is perpendicularly arranged with the first fastening part 4423 and extends outside the first swinging opening 423; the second fastening part 4424 is lapped on the first ammunition loading swinging plate body 421; the second fastener 4422 is connected to the first fastening part 4423, and the second fastener 4422 fixes the first ammunition loading rotating bearing 451 between the second fastening part 4424 and the second fastener 4422. The ammunition loading clamping cylinder 441 is sleeved on the ammunition loading connection hole, and the ammunition loading rotating driven gear 433 is connected to the bottom end of the first fastening part 4423.

[0075] A third fastener 4425 is provided at the top of one of the second fastening parts 4424, and a clamping sensor 46 is provided on the third fastener 4425, and the clamping sensor 46 is used to detect the arrow 5.

[0076] When the clamping sensor 46 detects the arrow, the ammunition loading gripper clamps the arrow 5.

[0077] By setting the second fastening part 4424 and the second fastener 4422 to clamp the first cartridge-loading rotating bearing 451, and the second fastening part 4424 is lapped on the first cartridge-loading swinging plate body 421, it is avoided that the first cartridge-loading rotating bearing 451 disengages from the first swinging opening 423, making the reliability of the cartridge-loading clamping device 44 rotating on the cartridge-loading swinging bracket 42 high; at the same time, the bottom of the first fastening part 4423 is also connected to the cartridge-loading rotating driven gear 433; realizing the relative fixation of the cartridge-loading rotating driven gear 433 and the cartridge-loading clamping cylinder 441. By setting the structure of the fastening assembly 442 to limit the first cartridge-loading rotating bearing 451 and fix the cartridge-loading rotating driven gear 433 at the same time; the structure is simple.

[0078] As Figure 8 shown, the cartridge-loading gripper 443 includes two cartridge-loading clamping parts 4431; one cartridge-loading clamping part 4431 is connected to an output end of the cartridge-loading clamping cylinder 441, and the other cartridge-loading clamping part 4431 is connected to the other output end of the cartridge-loading clamping cylinder 441; each cartridge-loading clamping part 4431 includes more than two cartridge-loading clamping portions 4432; the cartridge-loading clamping portions 4432 connected to an output end of the cartridge-loading clamping cylinder 441 and the cartridge-loading clamping portions 4432 connected to the other output end of the cartridge-loading clamping cylinder 441 are arranged alternately.

[0079] The cartridge-loading clamping portion 4432 includes a first clamping portion 4433, and an arc-shaped second clamping portion 4434 extends on the first clamping portion 4433. A clamping area 4435 is formed between the second clamping portion 4434 and the first clamping portion 4433; the clamping areas 4435 of adjacent cartridge-loading clamping portions 4432 are arranged in a stacked manner.

[0080] The cartridge-loading clamping cylinder 441 drives the clamping or opening of the cartridge-loading gripper 443 to realize the clamping or unloading of the arrow 5; the adjacent clamping areas 4435 are arranged in a stacked manner, extending the clamping length of the cartridge-loading gripper 443, and can better clamp the arrow 5; at the same time, the cartridge-loading clamping portions 4432 connected to the two output ends of the cartridge-loading clamping cylinder 441 are arranged alternately. The cartridge-loading clamping portions 4432 at one output end of the cartridge-loading clamping cylinder 441 swing in one direction, and the cartridge-loading clamping portions 4432 at the other output end of the cartridge-loading clamping cylinder 441 swing in the opposite direction of the relative cartridge-loading clamping portions 4432, so that the clamping effect on the arrow 5 is good.

[0081] In this embodiment, a protrusion 4436 extends from the clamping area 4435 at the end of the second clamping portion 4434 away from the first clamping portion 4433. By the protrusion 4436, the space of the clamping area 4435 is reduced, further improving the clamping of the arrow 5.

[0082] As Figure 11As shown, the arrow-taking clamping device 23 includes an arrow-taking clamping cylinder and an arrow-taking gripper. In this embodiment, the arrow-taking clamping cylinder has the same structure as the cartridge-loading clamping cylinder 441; the arrow-taking gripper has the same structure as the cartridge-loading gripper 443; a clamping sensor 46 is provided on the arrow-taking clamping cylinder. When the clamping sensor 46 on the arrow-taking clamping cylinder detects an arrow, the arrow-taking gripper clamps the arrow.

[0083] In this embodiment, the arrow-taking transverse movement device 21 includes a transverse movement bracket 211, a transverse movement lower plate body 212, and a transverse movement driving device 213; the transverse movement bracket 211 is slidably arranged on the transverse movement lower plate body 212, and the transverse movement lower plate body 212 is fixed on the arrow-taking bracket 24; the arrow-taking transverse movement bracket 22 is slidably arranged on the transverse movement bracket 211; the transverse movement driving device 213 drives the arrow-taking transverse movement bracket 22 to slide synchronously on the transverse movement bracket 211 and the transverse movement bracket 211 to slide on the transverse movement lower plate body 212.

[0084] The transverse movement driving device 213 includes a transverse movement driving motor 2131, a first transverse movement transmission wheel 2132, a second transverse movement transmission wheel 2133, a transverse movement belt 2134, a first transverse movement clamping device 2135, and a second transverse movement clamping device 2136.

[0085] As Figure 13 shown, the transverse movement bracket 211 includes a first transverse movement bracket 2111, a second transverse movement bracket 2112, and a third transverse movement bracket 2113; the first transverse movement bracket 2111 is arranged on one side of the third transverse movement bracket 2113, and the second transverse movement bracket 2112 is arranged on the other side of the third transverse movement bracket 2113; the first transverse movement transmission wheel 2132 is arranged at one end of the third transverse movement bracket 2113, the transverse movement driving motor 2131 is fixed on the first transverse movement bracket 2111, and the output end of the transverse movement driving motor 2131 passes through the first transverse movement bracket 2111, the first transverse movement transmission wheel 2132, and the second transverse movement bracket 2112 and is rotatably connected to the first transverse movement transmission wheel 2132.

[0086] The second transverse movement transmission wheel 2133 is arranged at the other end of the third transverse movement bracket 2113; a positioning pin 25 is provided at the end of the second transverse movement bracket 2112 away from the transverse movement driving motor 2131; the positioning pin 25 passes through the second transverse movement bracket 2112, the second transverse movement transmission wheel 2133, and the first transverse movement bracket 2111 and is rotatably connected to the second transverse movement transmission wheel 2133; the transverse movement belt 2134 is sleeved on the first transverse movement transmission wheel 2132, the third transverse movement bracket 2113, and the second transverse movement transmission wheel 2133.

[0087] The first transverse clamping device 2135 clamps the transverse belt 2134 above the third transverse support 2113 and is fixedly connected to the bullet-taking transverse support 22; the second transverse clamping device 2136 clamps the transverse belt 2134 below the third transverse support 2113 and is fixedly connected to the lower transverse plate body 212. The bullet-taking transverse device 21 further 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 third transverse support 2113, and 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 support 22.

[0088] 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 lower transverse plate body 212; the other second transverse sliding rail 216 is arranged on the other side of the lower transverse plate body 212.

[0089] Two second transverse sliding blocks 217 are slidably arranged on one second transverse sliding rail 216 and the top ends of the second transverse sliding blocks 217 are fixedly connected to the first transverse support 2111; the other two second transverse sliding blocks 217 are slidably arranged on the other second transverse sliding rail 216 and the top ends of the second transverse sliding blocks 217 are fixedly connected to the second transverse support 2112.

[0090] Since the lower transverse plate body 212 is fixed on the bullet-taking support 24, the bullet-taking transverse support 22 is slidably connected to the transverse support 211, and the transverse support 211 is slidably connected to the lower transverse plate body 212; and the upper end of the transverse belt 2134 is fixedly connected to the bullet-taking transverse support 22 through the first transverse clamping device 2135, and the lower end of the transverse belt 2134 is fixedly connected to the lower transverse plate body 212 through the second transverse clamping device 2136; thus when the transverse drive motor 2131 rotates in one direction, the first transverse clamping device 2135 moves closer to the second transverse transmission wheel 2133, and the first transverse clamping device 2135 drives the bullet-taking transverse support 22 to move in the direction closer to the second transverse transmission wheel 2133; while the second transverse clamping device 2136 moves closer to the first transverse transmission wheel 2132, and since the lower transverse plate body 212 is fixed on the frame body 1, this will drive the transverse support 211 to move in the direction closer to the second transverse transmission wheel 2133; and when the transverse drive motor 2131 rotates in the opposite direction, both the bullet-taking transverse support 22 and the transverse support 211 will move in the direction closer to the first transverse transmission wheel 2132; thus the bullet-taking transverse support 22 and the transverse support move in the same direction simultaneously, and the bullet-taking transverse support moves based on the movement of the transverse support; furthermore, the movement range of the bullet-taking transverse support 22 is wide.

[0091] In this embodiment, as Figure 2and 3 As shown in 3 , a supporting part 332 is provided on the first supporting member 331. The supporting part 332 is a structure that is recessed inward from the surface of the first supporting member 331; the supporting part 332 is used to fit with the arrowhead of the arrow 5 and support the arrow 5. The arrowhead 51 is pressed on the supporting part 332, and the arrowhead 51 of the arrow 5 is supported by the supporting part 332, so that the arrow 5 can be placed more stably in the throwing support cavity 36.

[0092] In this embodiment, the length of the loading device is greater than the length of the bullet-taking device. When the loading device and the bullet-taking device are arranged in parallel, the loading clamping device extends outside the bullet-taking clamping device; in this way, the arrows clamped by the loading clamping device and the arrows clamped by the bullet-taking clamping device are also parallel; when the loading rotating device drives the loading device to rotate, the arrows clamped by the loading device will not collide with the arrows clamped by the bullet-taking device.

[0093] The archery robot further includes a moving device, and the moving device is arranged on the frame 1; the moving device is used to drive the frame 1 to move. By driving the frame 1 to move through the moving device, the frame 1 is moved closer to the projection target. The moving device includes three groups of moving wheels, and each group of moving wheels is driven by an independent motor.

[0094] The working method of the archery robot includes the following steps:

[0095] (1). The bullet-taking transverse movement device 21 drives the bullet-taking transverse movement bracket to move. One or more bullet-taking clamping devices 23 and one or more loading clamping devices 44 are alternately arranged. The loading swing driving device drives the loading clamping device 44 to approach the bullet-taking device and be arranged in parallel with the bullet-taking clamping device 23.

[0096] (2). A loading clamping device 44 clamps an arrow, and clamps at one end of the arrow rod close to the arrow tail; a bullet-taking clamping device 23 clamps another arrow, and clamps at one end of the arrow rod close to the arrowhead.

[0097] (3). The loading rotating device drives the loading clamping device 44 to rotate, and the loading clamping device 44 drives the arrow to rotate, so that the orientation of the arrowhead is consistent with the throwing direction of the throwing support cavity.

[0098] (4). The loading swing driving device drives the loading clamping device 44 to approach the throwing support cavity. When the arrow contacts the first supporting member, the loading clamping device 44 releases the clamping of the arrow, and under the action of gravity, the arrow rod slides into the throwing support cavity, and the throwing support cavity limits the arrowhead.

[0099] (5). The loading swing driving device drives the loading clamping device 44 to move away from the throwing support cavity.

[0100] (6). Determine whether the projection target is consistent with the projection direction of the projection support cavity. If so, proceed to (8); if not, proceed to (7). In this embodiment, it is manually determined whether the projection target is consistent with the projection direction of the projection support cavity.

[0101] (7). The projection rotation device drives the projection swing bracket and the projection support bracket to rotate so that the projection target is consistent with the projection direction of the projection support cavity. If the projection direction of the projection support cavity is to the left of the projection target, drive the projection swing bracket and the projection support bracket to rotate to the right; if the projection direction of the projection support cavity is to the right of the projection target, drive the projection swing bracket and the projection support bracket to rotate to the left.

[0102] (8). The projection driving device drives the projection swing bracket to swing away from the projection support bracket, and the first support member pushes the arrow to be projected.

[0103] (9). The ammunition extraction and transverse movement device 21 drives the ammunition extraction and transverse movement bracket to move so that an ammunition extraction and clamping device 23 holding an arrow corresponds to the ammunition filling and clamping device position 44.

[0104] (10). The ammunition filling rotation device drives the ammunition filling and clamping device to reset, and the ammunition filling swing driving device drives the ammunition filling and clamping device to approach the ammunition extraction and clamping device and be arranged in parallel with the ammunition extraction and clamping device.

[0105] (11). The ammunition filling and clamping device clamps the arrow on the ammunition extraction and clamping device, and clamps at one end of the arrow rod near the arrow tail; the ammunition extraction and clamping device 23 releases the clamping of the arrow.

[0106] (12). Repeat (3)-(11); until all the arrows on the archery robot are projected.

[0107] In the above method, the ammunition extraction and clamping device and the ammunition filling and clamping device simultaneously clamp different arrows. First, the ammunition extraction and clamping device provides arrows for the projection support cavity. When the arrow clamped by the ammunition extraction and clamping device is projected, the ammunition extraction and clamping device then clamps the arrow clamped by the ammunition filling and clamping device and continues to provide arrows for the projection support cavity; in this way, multiple projections of arrows can be achieved; at the same time, before the ammunition extraction and clamping device and the ammunition filling and clamping device clamp the arrows, the ammunition extraction and transverse movement bracket moves, so that the ammunition extraction and clamping device and the ammunition filling and clamping device are alternately arranged; this avoids the situation where the ammunition extraction and clamping device and the ammunition filling and clamping device clamp the same arrow.

[0108] The arrow can be thrown only when the direction of the arrow head is consistent with the throwing direction of the throwing supporting cavity; the loading and clamping device clamps the end of the arrow shaft close to the arrow tail, and will not interfere with the cooperation between the arrow shaft and the throwing supporting cavity; then the loading and clamping device is rotated to make the direction of the arrow head of the arrow be consistent with the throwing direction of the throwing supporting cavity, so that the arrow shaft of the arrow is aligned with the throwing supporting cavity; then the loading and clamping device releases the clamping of the arrow, and the arrow naturally slides into the throwing supporting cavity, and then the arrow shaft is accommodated in the throwing supporting cavity. At the same time, since the size of the arrow head is larger than the size of the arrow shaft, the size of the arrow shaft matches the size of the throwing supporting cavity, and the arrow is limited by the first supporting member to prevent the arrow from escaping from the throwing supporting cavity; then the throwing swing bracket swings to throw the arrow.

[0109] In the above method,

[0110] Step (1) is specifically as follows: the transverse driving device drives the ammunition retrieval transverse moving bracket and the transverse moving bracket to move simultaneously in a direction close to the first transverse driving wheel; one ammunition retrieval clamping device is arranged adjacent to another ammunition retrieval clamping device, and another ammunition retrieval clamping device, a loading clamping device, another ammunition retrieval clamping device and another clamping device are arranged alternately; in this way, the loading clamping device and the ammunition retrieval clamping device are prevented from interfering with each other when clamping arrows; the loading clamping device and the ammunition retrieval clamping device can clamp different arrows at the same time; and thus more arrows can be stored on the archery robot.

[0111] In step (2), the loading and clamping device clamps an arrow, specifically: the loading and clamping cylinder drives the loading and clamping hand to open, and the frame approaches the arrow. When the clamping sensor detects the arrow, the frame stops moving; then the loading and clamping cylinder drives the loading and clamping hand to clamp the arrow shaft in the clamping area. The control method is simple and the clamping accuracy is good by detecting the arrow by the clamping sensor.

[0112] In step (3), the cartridge loading rotation device drives the cartridge loading clamping device to rotate. Specifically, the cartridge loading rotation motor drives the cartridge loading clamping device to rotate around the center of the first swinging opening and the second swinging opening. The cartridge loading clamping device drives the arrow to rotate so that the direction of the arrowhead of the arrow is consistent with the throwing direction of the throwing support cavity. Specifically, in this embodiment, the arrow is placed with the arrowhead facing down. After the cartridge loading clamping device clamps the arrow, the cartridge loading rotation device drives the cartridge loading clamping device to rotate 180°. In this embodiment, the rotation directions of the two cartridge loading clamping devices 44 are opposite. When the two cartridge loading clamping devices rotate, the tails of the two arrows first approach and then separate. Since the space between the two cartridge loading clamping devices is limited and the rotation directions of the two cartridge loading clamping devices are opposite, when the two cartridge loading clamping devices rotate, the tails of the two arrows first approach and then separate. That is, during the rotation of the arrow, the tail is accommodated in the space between the two cartridge loading clamping devices; at the same time, because the cartridge loading clamping device clamps one end of the arrow rod close to the tail, the distance between the tail and the cartridge loading clamping device is short, and the space occupied by the arrow in the space between the two cartridge loading clamping devices is small; this avoids the collision of the two arrows when they rotate simultaneously. Refer to Figure 20 , the cartridge loading clamping device on the left rotates clockwise, and the cartridge loading clamping device on the right rotates counterclockwise; since the cartridge loading clamping device clamps one end of the arrow rod close to the tail, this avoids the collision of the two arrows when they rotate simultaneously.

[0113] In step (4), the two cartridge loading clamping devices respectively place the arrows in the corresponding throwing support cavities. If the two cartridge loading clamping devices place the arrows in the corresponding throwing support cavities successively, the two arrows can continuously project towards the same projection target; if the two cartridge loading clamping devices place the arrows in the corresponding throwing support cavities simultaneously, the two arrows can simultaneously project towards the same projection target.

[0114] In step (6), it is judged whether the projection target is consistent with the throwing direction of the throwing support cavity. Specifically, it is to manually observe whether the projection target is consistent with the throwing direction of the throwing support cavity.

[0115] Step (9) is specifically as follows: If all the arrow-taking clamping devices hold arrows, then (9.1) is carried out; if the arrows of another arrow-taking clamping device and yet another arrow-taking clamping device are both clamped, then (9.2) is carried out.

[0116] Step (9.1). The transverse movement drive device drives the arrow-taking transverse movement support and the transverse movement support to move towards the direction close to the second transverse movement transmission wheel at the same time, so that another arrow-taking clamping device corresponds to one cartridge loading clamping device, and yet another arrow-taking clamping device corresponds to the other cartridge loading clamping device.

[0117] Step (9.2). The transverse movement driving device drives the arrow-taking transverse support and the transverse support to move simultaneously in the direction close to the second transverse transmission wheel, so that an arrow-taking clamping device corresponds to a loading clamping device or another loading clamping device. When all the arrow-taking clamping devices hold arrows, through the correspondence between another arrow-taking clamping device and a loading clamping device, and the correspondence between another arrow-taking clamping device and another loading clamping device; arrows can be provided for the two loading clamping devices simultaneously; at the same time, an arrow-taking clamping device also holds an arrow, thus further increasing the storage quantity of arrows; when the arrows of another arrow-taking clamping device and another arrow-taking clamping device are both clamped and taken, an arrow-taking clamping device provides arrows for a loading clamping device or another loading clamping device, and further provides arrows for one of the throwing devices.

Claims

1. An archery robot, comprising a frame body, on which a bullet taking device, more than two throwing devices and more than two bullet filling devices are provided, and characterized in that: The throwing device is arranged above the loading device, and the loading device is arranged above the arrow-taking device; The throwing device includes a throwing driving device, a throwing swing bracket and a throwing supporting bracket; the throwing supporting bracket is installed on the frame body, and the throwing swing bracket is movably arranged on the throwing supporting bracket; the throwing driving device is connected to the throwing swing bracket and drives one end of the throwing swing bracket to approach or move away from the throwing supporting bracket; along the swinging direction of the throwing swing bracket, the loading device is arranged between the throwing device and the arrow-taking device; The throwing swing bracket includes a first supporting member, and the throwing supporting bracket includes a second supporting member; the second supporting member is located between the first supporting member and the loading device; the first supporting member and the second supporting member are respectively provided with an inclined throwing supporting cavity; the height of the end of the throwing supporting cavity close to the loading device is lower than the height of the end of the throwing supporting cavity far from the loading device; the throwing supporting cavity is used for supporting the arrow and limiting the arrow; The loading device includes a loading swing driving device, a loading swing bracket, a loading rotating device and a loading clamping device; the loading swing driving device is fixed on the frame body, and the output end of the loading swing driving device is connected to the loading swing bracket; the loading rotating device is fixed on the loading swing bracket, and the output end of the loading rotating device is connected to the loading clamping device; the loading clamping device is used for clamping the arrow to be launched, and the loading rotating device is used for driving the loading clamping device to rotate; The arrow-taking device includes an arrow-taking transverse movement device, an arrow-taking transverse movement bracket and more than one arrow-taking clamping device; the arrow-taking transverse movement device is arranged on the frame body, the output end of the arrow-taking transverse movement device is connected to the arrow-taking transverse movement bracket, and more than one arrow-taking clamping device is arranged on the arrow-taking transverse movement bracket; the arrow-taking transverse movement device drives the arrow-taking clamping device to move along the vertical direction of the swinging direction of the throwing swing bracket; the loading swing driving device is used for driving the loading clamping device to swing between the throwing supporting cavity and the arrow-taking clamping device; the loading clamping device is rotatably arranged on the loading swing bracket; the loading rotating device includes a loading rotating motor, a loading rotating driving gear and a loading rotating driven gear; the loading rotating motor is fixed on the loading swing bracket, and the output end of the loading rotating motor is connected to the loading rotating driving gear; the loading clamping device passes through the loading rotating driven gear and is fixedly connected to the loading rotating driven gear; the loading rotating driving gear meshes with the loading rotating driven gear; the loading rotating device drives the loading clamping device to rotate, and the loading clamping device drives the arrow to rotate so that the orientation of the arrowhead is consistent with the throwing direction of the throwing supporting cavity; the transverse movement driving device drives the arrow-taking transverse movement bracket and the transverse movement bracket to move simultaneously in the direction close to the first transverse movement driving wheel; so that one arrow-taking clamping device is arranged adjacent to another arrow-taking clamping device, and another arrow-taking clamping device, a loading clamping device, another arrow-taking clamping device and another loading clamping device are alternately arranged; in this way, interference between the loading clamping device and the arrow-taking clamping device when clamping the arrow is avoided; the loading clamping device and the arrow-taking clamping device can clamp different arrows simultaneously.

2. The archery robot according to claim 1, characterized in that: The throwing device further includes a throwing rotating device, which includes a throwing rotating bearing, a throwing rotating driven gear, a throwing rotating driving gear, a throwing rotating belt, and a throwing rotating motor; The inner ring of the throwing rotating bearing and the throwing rotating motor are both fixed on the frame. The outer ring of the throwing rotating bearing is connected to one side of the throwing rotating driven gear, and the throwing rotating motor is connected to the throwing rotating driving gear. The throwing rotating belt is sleeved on the throwing rotating driven gear and the throwing rotating driving gear. The throwing supporting bracket is fixed on the other side of the throwing rotating driven gear; The throwing rotating motor drives the throwing supporting cavity to rotate.

3. The archery robot according to claim 2, characterized in that: The throwing rotating device further includes an annular throwing rotating upper limit plate and a throwing rotating lower limit plate. One side of the throwing rotating driven gear is connected to the outer ring of the throwing rotating bearing through the throwing rotating lower limit plate. The throwing supporting bracket is connected to the other side of the throwing rotating driven gear through the throwing rotating upper limit plate. The outer peripheral edges of the throwing rotating upper limit plate and the throwing rotating lower limit plate protrude outward relative to the throwing rotating driven gear.

4. The archery robot according to claim 1, wherein: The ammunition loading rotating driven gear is provided with an ammunition loading perforation. The ammunition loading clamping device includes an ammunition loading clamping cylinder and an ammunition loading gripper. The ammunition loading clamping cylinder is inserted through the ammunition loading connection hole and fixedly connected to the ammunition loading rotating driven gear; The ammunition loading gripper includes two ammunition loading clamping members. One ammunition loading clamping member is connected to one output end of the ammunition loading clamping cylinder, and the other ammunition loading clamping member is connected to the other output end of the ammunition loading clamping cylinder. The ammunition loading clamping member includes more than two ammunition loading clamping portions. The ammunition loading clamping portions connected to one output end of the ammunition loading clamping cylinder and the ammunition loading clamping portions connected to the other output end of the ammunition loading clamping cylinder are arranged alternately; The ammunition loading clamping portion includes a first clamping portion, and an arc-shaped second clamping portion extends on the first clamping portion. A clamping area is formed between the second clamping portion and the first clamping portion. The clamping areas of adjacent ammunition loading clamping members are arranged in a stacked manner.

5. An archery robot according to claim 4, characterized in that: A convex portion extends from one end of the clamping area of the second clamping portion away from the first clamping portion.

6. The archery robot according to claim 1, characterized in that: The arrow picking device further includes an arrow picking bracket, which is arranged on the frame. The horizontal height of the side of the arrow picking bracket close to the ammunition loading device is higher than the horizontal height of the side of the arrow picking bracket away from the ammunition loading device. The arrow picking transverse movement device is arranged on the arrow picking bracket.

7. An archery robot according to claim 1, characterized in that: A supporting portion is provided on the first supporting member, and the supporting portion is used to fit with the arrowhead of the arrow and support the supporting portion.

8. An archery robot according to claim 1, characterized in that: A moving device is provided on the frame, and the moving device is used to drive the frame to move.

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