A storage filling method

Abstract

The present invention provides a material storage and filling method, which provides arrows for a throwing device through a material storage and filling device. The material storage and filling device includes a frame, on which a bullet retrieval device and a bullet filling device are provided; the bullet filling device includes a bullet filling clamping device, the bullet retrieval device includes a bullet retrieval clamping device, and the bullet retrieval device provides arrows for the bullet filling device; the bullet filling device provides arrows for the throwing device; and arrows are quickly provided to the throwing device.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a material storage and filling 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 in this structure, only one arrow is thrown each time and only one arrow is clamped, which makes the loading efficiency low. Summary of the Invention

[0005] The invention provides a material storage and filling method. A bullet filling and clamping device cooperates with a bullet taking and clamping device to quickly provide arrows to a throwing device and can clamp arrows in a wide range.

[0006] To achieve the above-mentioned objectives, the technical solution of the present invention is as follows: a material storage and filling method, wherein a material storage and filling device is used to provide arrows for a casting device, wherein the arrow includes an arrowhead, a shaft, and a tail, wherein the shaft connects the arrowhead and the tail, and the cross-section of the arrowhead is larger than the cross-section of the shaft. The material storage and filling device includes a frame, on which a bullet-taking device and one or more bullet-feeding devices are provided, wherein the casting device is arranged above the bullet-feeding device, and the bullet-feeding device is arranged above the bullet-feeding device; the length of the bullet-feeding device is larger than the length of the bullet-feeding device; the bullet-feeding device provides arrows for the bullet-feeding device; and the bullet-feeding device provides arrows for the casting device. The bullet-feeding device includes a bullet-feeding swing drive device, a bullet-feeding swing bracket, a bullet-feeding rotating device, and a bullet-feeding clamping device; the bullet-feeding swing drive device is fixed to the frame, and the output end of the bullet-feeding swing drive device is connected to the bullet-feeding swing bracket; the bullet-feeding rotating device is fixed to the bullet-feeding swing bracket, and the output end of the bullet-feeding rotating device is connected to the bullet-feeding clamping device; the bullet-feeding clamping device is used to clamp the arrow to be launched, and the bullet-feeding rotating device is used to drive the bullet-feeding clamping device to rotate.

[0007] 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 throwing swing bracket; the bullet loading swing drive device is used to drive the bullet loading clamping device to swing between the throwing device and the bullet retrieval clamping device.

[0008] The storage filling method comprises the following steps:

[0009] (1) The retrieval lateral movement device drives the retrieval lateral movement bracket to move, and one or more retrieval clamping devices and one or more loading clamping devices are alternately arranged; the loading swing drive device drives the loading clamping device to approach the retrieval device and be arranged parallel to the retrieval clamping device.

[0010] (2) A loading and holding device holds an arrow at the end of the arrow shaft near the tail; a removing and holding device holds another arrow at the end of the arrow shaft near the arrow head.

[0011] (3) The loading and rotating device drives the loading and holding device to rotate, and the loading and holding device drives the arrow to rotate so that the direction of the arrow head is consistent with the throwing direction of the throwing device.

[0012] (4) The loading swing drive device drives the loading clamping device to approach the throwing device and provides the arrow to the throwing device. When the arrow is matched with the throwing device, the loading clamping device releases the clamping of the arrow.

[0013] (5) The loading swing drive device drives the loading clamping device away from the throwing device; when the throwing device throws the arrow, (6) is performed.

[0014] (6) The bullet retrieval and transverse movement device drives the bullet retrieval and transverse movement bracket to move so that a bullet retrieval clamping device holding an arrow is positioned corresponding to a bullet loading clamping device.

[0015] (7) The loading rotation device drives the loading clamping device to reset, and the loading swing drive device drives the loading clamping device to approach the retrieval clamping device and be arranged parallel to the retrieval clamping device.

[0016] (8) The loading and holding device clamps the arrow on the retrieval and holding device, and clamps it at the end of the arrow shaft near the tail of the arrow; the retrieval and holding device releases its clamping of the arrow.

[0017] (9) Repeat (3) to (8) until all the arrows on the storage filling device are thrown out.

[0018] In the above method, since the length of the loading device is greater than that of the retrieval device, when the loading device and the loading device are arranged in parallel, the loading clamping device extends outside the retrieval clamping device; thus, the arrow clamped by the loading clamping device and the arrow clamped by the retrieval clamping device are also parallel; 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 retrieval device.

[0019] Different arrows are clamped simultaneously by the bullet retrieval clamping device and the bullet loading clamping device. The bullet retrieval clamping device first provides the throwing device with arrows. After the arrow clamped by the bullet retrieval clamping device is thrown out, the bullet retrieval clamping device clamps the arrow clamped by the bullet loading clamping device and provides the throwing device with arrows again. In this way, multiple throwing of arrows can be achieved. At the same time, before the bullet retrieval clamping device and the bullet loading clamping device clamp the arrow, the bullet retrieval transverse moving bracket moves, so that the bullet retrieval clamping device and the bullet loading clamping device are alternately arranged. In this way, the situation where the bullet retrieval clamping device and the bullet loading clamping device clamp the same arrow is avoided.

[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; 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 device; then the loading and clamping device is rotated so that the direction of the arrow head is consistent with the throwing direction of the throwing device. When the arrow is matched with the throwing device, the loading and clamping device releases the clamping of the arrow and resets.

[0021] Furthermore, the loading and clamping device includes a loading and clamping cylinder and a loading and clamping hand, and a clamping sensor is fixed on the loading and clamping cylinder; the loading and clamping hand includes two loading and clamping pieces; one loading and clamping piece is connected to one output end of the loading and clamping cylinder, and the other loading and clamping piece is connected to the other output end of the loading and clamping cylinder; the loading and clamping piece includes more than two loading and clamping parts; the loading and clamping parts connected to one output end of the loading and clamping cylinder and the loading and clamping parts connected to the other output end of the loading and clamping cylinder are alternately arranged.

[0022] The bullet-loading 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.

[0023] With the above arrangement, the loading and clamping cylinder drives the loading and clamping hands to clamp or open, thereby clamping or removing the arrow; adjacent clamping areas are stacked to extend the clamping length of the loading and clamping hands, thereby better clamping the arrow; at the same time, the loading and clamping parts connected to the two output ends of the loading and clamping cylinder are alternately arranged, the loading and clamping parts at one output end of the loading and clamping cylinder swing in one direction, and the loading and clamping parts at the other output end of the loading and clamping cylinder swing in the opposite direction of the relative loading and clamping parts, thereby achieving a good clamping effect on the arrow.

[0024] Furthermore, in (2), the loading and clamping device clamps an arrow. Specifically, the loading and clamping cylinder drives the loading and clamping hand to open, and the frame moves toward 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 because the clamping sensor detects the arrow and controls the loading and clamping hand.

[0025] Furthermore, in (3), the loading and holding device is rotated 180°, and the direction of the arrow head is consistent with the throwing direction of the throwing device.

[0026] In the above method, the arrows are generally placed with their arrows pointing downwards. By rotating the loading and holding device 180°, the arrows held by the loading and holding device will also rotate 180°, thereby aligning the direction of the arrows with the direction of the throwing device.

[0027] Furthermore, there are two loading devices and two throwing devices, one loading device corresponding to one throwing device; in (4), the two loading clamping devices respectively place the arrows in the corresponding throwing devices.

[0028] Furthermore, in (3), the two loading and clamping devices rotate in opposite directions. When the two loading and clamping devices rotate, the tails of the two arrows first approach each other and then separate.

[0029] In the above method, due to the limited space between the two loading and clamping devices and the fact that the two loading and clamping devices rotate in opposite directions, the nocks of the two arrows first approach and then separate during rotation. That is, during the arrow rotation, the nocks are contained within the space between the two loading and clamping devices. Furthermore, because the loading and clamping devices hold the arrow shafts close to the nock, the distance between the nocks and the loading and clamping devices is short, minimizing the space occupied by the arrows in the space between the two loading and clamping devices. This prevents collision between the two arrows when they rotate simultaneously.

[0030] Furthermore, the bullet retrieval clamping device is provided with three; the bullet retrieval transverse movement device includes a transverse movement bracket, a transverse movement lower plate and a transverse movement driving device; the transverse movement bracket is slidably arranged on the transverse movement lower plate, and the transverse movement lower plate is fixed on the bullet retrieval bracket; the bullet retrieval transverse movement bracket is slidably arranged on the transverse movement bracket; the transverse movement driving device drives the bullet retrieval transverse movement bracket on the transverse movement bracket and the transverse movement bracket on the transverse movement lower plate to slide synchronously.

[0031] 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.

[0032] 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.

[0033] The first transverse clamping device is clamped on the transverse belt sleeve between the top end of the first transverse transmission wheel and the top end of the second transverse transmission wheel; the second transverse clamping device is clamped on the transverse belt sleeve between the bottom end of the first transverse transmission wheel and the bottom end of the second transverse transmission wheel.

[0034] According to the above arrangement, when the transverse driving motor rotates in one direction, the first transverse clamping device approaches the second transverse transmission wheel, and the first transverse clamping device drives the bullet retrieval transverse bracket to move in the direction close to the second transverse transmission; and the second transverse clamping device approaches the first transverse transmission wheel, and since the transverse lower plate is fixed, this will drive the transverse bracket to move in the direction close to the second transverse transmission wheel; and when the transverse driving motor rotates in the opposite direction, the bullet retrieval transverse bracket and the transverse bracket will both move in the direction close to the first transverse transmission wheel; in this way, the bullet retrieval transverse bracket and the transverse bracket move simultaneously in the same direction, and the bullet retrieval transverse bracket moves on the basis of the movement of the transverse bracket; the movement range of the bullet retrieval transverse bracket is wide.

[0035] Furthermore, in (1), one or more bullet-retrieving and clamping devices are alternately arranged with one or more bullet-loading and clamping devices, specifically: one bullet-retrieving and clamping device is arranged adjacent to another bullet-retrieving and clamping device, and another bullet-retrieving and clamping device, a bullet-loading and clamping device, another bullet-retrieving and clamping device and another clamping device are alternately arranged.

[0036] The above method avoids interference between the loading and retrieving device and the loading and retrieving device when they are retrieving arrows; the loading and retrieving device and the loading and retrieving device can simultaneously retrieving different arrows; thereby, more arrows can be stored on the archery robot.

[0037] Furthermore, (6) is specifically as follows: if all the bullet-taking and holding devices hold arrows, proceed to (6.1); if the arrows are both held by the second bullet-taking and holding devices and the third bullet-taking and holding devices, proceed to (6.2).

[0038] (6.1) The transverse drive device drives the retrieval transverse bracket and the transverse bracket to move simultaneously toward the second transverse transmission wheel, so that another retrieval clamping device corresponds to a loading clamping device, and another retrieval clamping device corresponds to another loading clamping device.

[0039] (6.2) The transverse drive device drives the ammunition retrieval transverse bracket and the transverse bracket to move simultaneously in a direction close to the second transverse transmission wheel, so that a ammunition retrieval clamping device corresponds to a loading clamping device or another loading clamping device.

[0040] 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

[0041] Figure 1 It is a three-dimensional schematic diagram of an archery robot using the present invention.

[0042] Figure 2 It is a three-dimensional schematic diagram of the throwing device of the present invention.

[0043] Figure 3 It is a three-dimensional schematic diagram of the bullet-loading device of the present invention.

[0044] Figure 4 It is an exploded view of the loading device of the present invention.

[0045] Figure 5This is an exploded view of the loading and holding device and the loading and rotating driven gear of the present invention.

[0046] Figure 6 for Figure 5 Enlarged view of middle b.

[0047] Figure 7 This is a schematic diagram of the opening of the bullet-loading and clamping device of the present invention.

[0048] Figure 8 It is a schematic diagram of clamping using the bullet-loading clamping device of the present invention.

[0049] Figure 9 It is a three-dimensional schematic diagram of the bullet-taking device of the present invention.

[0050] Figure 10 The figure is an exploded view of the bullet-taking device of the present invention.

[0051] Figure 11 This is an exploded view of the bullet retrieval and lateral movement device of the present invention.

[0052] Figure 12 This is a schematic diagram of the archery robot of the present invention cooperating with a rack on which arrows are placed.

[0053] Figure 13 Schematic diagram of using the loading and holding device of the present invention to hold an arrow.

[0054] Figure 14 It is a schematic diagram of the loading and holding device of the present invention after rotation.

[0055] Figure 15 It is a schematic diagram of using the bullet-loading and clamping device of the present invention to swing toward the throwing support cavity.

[0056] Figure 16 A schematic diagram of an arrow placed in a casting support cavity.

[0057] Figure 17 This is a front view of arrows placed on the rack.

[0058] Figure 18 Schematic diagram of the movement of the bullet removal and transverse movement bracket in the present invention.

[0059] Figure 19 Flowchart of the present invention. DETAILED DESCRIPTION

[0060] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0061] like Figure 1-18A storage and filling method is shown, wherein a storage and filling device is used to provide arrows to a throwing device. The storage and filling device is used in an archery robot and is used in conjunction with the throwing device. The storage and filling device includes a frame 1, on which is provided an arrow retrieval device 2 and one or more arrow loading devices 4.

[0062] The throwing device 3 is arranged above the bullet-loading device 4, and the bullet-loading device 4 is arranged above the bullet-retrieving device 2. In this embodiment, two throwing devices 3 and two bullet-loading devices 4 are provided; one bullet-loading device 4 corresponds to one throwing device 3.

[0063] The throwing device 3 includes a throwing rotation device 31, a throwing drive device 32, a throwing swing bracket 33, and a throwing support bracket 34. The throwing rotation device 31 is mounted on the frame 1, the throwing support bracket 34 is mounted on the throwing rotation device 31, and the throwing swing bracket 33 is movably mounted on the throwing support bracket 34. The throwing drive device 32 is connected to the throwing swing bracket 33 and drives one end of the throwing swing bracket 33 toward or away from the throwing support bracket 34. The loading device 4 is positioned between the throwing device 3 and the retrieval device 2 along the swing direction of the throwing swing bracket 33. The throwing rotation device 31 drives the throwing drive device 32, the throwing swing bracket 33, and the throwing support bracket 34 to rotate synchronously. This allows the throwing direction of the throwing support chamber 36 to be changed, and the throwing device 3 has a large throwing range.

[0064] 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 .

[0065] The casting swing bracket 33 includes a first supporting member 331, and the casting support bracket 34 includes a second supporting member 341; the second supporting member 341 is located between the first supporting member 331 and the loading device 4; the first supporting member 331 and the second supporting member 341 are respectively provided with an inclined casting support cavity 36; the height of the casting support cavity 36 close to the loading device 4 is lower than the height of the casting support cavity 36 away from the loading device 4; the casting support cavity 36 is used to support the arrow 5, and the first supporting member 331 limits the position of 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-section of the arrowhead 51 is larger than the cross-section 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 limits the arrow 5 to prevent the arrow 5 from escaping from the casting support cavity 36 under the action of gravity.

[0066] 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. The loading clamping device 44 is used to clamp the arrow 5. The loading swing drive 41 is fixed to the frame 1 via a loading fixing bracket. The output end of the loading swing drive 41 is connected to the loading swing bracket 42. The loading rotation device 43 is fixed to the loading swing bracket 42. The loading clamping device 44 is rotatably mounted 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 to be launched, and the loading rotation device 43 is used to drive the loading clamping device 44 to rotate.

[0067] A swingable loading and clamping device 44 is provided, and the loading and clamping swinging drive device 41 drives the loading and clamping device 44 to place the clamped arrow 5 on the casting support cavity 36, and the casting support cavity 36 limits the arrow 5; the arrow 5 placed on the casting support cavity 36 is not affected by gravity and is separated from the casting support cavity 36; in this way, the loading of the arrow 5 is achieved; the operation of loading the arrow 5 is simple; the casting swinging bracket 33 is driven away from the casting support bracket 34 by the casting drive device 32, and the first supporting member 331 drives the arrow 5 to separate from the casting support cavity 36 and cast the arrow 5.

[0068] The loading and holding device 44 is connected to the loading and holding rotation device 43. The loading and holding rotation device 43 is used to drive the loading and holding device 44 to rotate. When the loading and holding device 44 is capable of holding arrows 5 with different arrowhead orientations, the loading and holding rotation device 43 drives the loading and holding device 44 to rotate. This can align the arrowhead orientation of the arrow 5 so that the arrowhead orientation of the arrow 5 is consistent with the casting direction of the casting swing bracket 33, thereby enabling the arrow 5 placed in the casting support cavity 36 to be cast. At the same time, the loading and holding rotation device 43 drives the loading and holding device 44, thereby changing the gripping direction of the loading and holding device 44, maintaining the gripping direction of the loading and holding device 44 perpendicular to the arrow 5, thereby enabling the loading and holding device 44 to grip arrows 5 placed at different angles.

[0069] The retrieval device 2 is used to provide arrows 5 to the loading and clamping device 44. 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 arrows 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 and clamping device 44 to swing between the delivery support cavity 36 and the retrieval clamping device 23.

[0070] 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.

[0071] In another embodiment, the retrieval device 2 further includes a retrieval bracket 24; the retrieval bracket 24 is fixed to the frame 1, and the horizontal height of the retrieval bracket 24 close to the loading device 4 is higher than the horizontal height of the retrieval bracket 24 away from the loading device 4; the retrieval lateral movement device 21 is provided on the retrieval bracket 24. Figure 14 and 19 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.

[0072] The casting rotation device 31 includes a casting rotation bearing (not shown), a casting rotation driven gear 312, a casting rotation driving gear 313, a casting rotation belt 314, and a casting rotation motor 315. In this embodiment, the casting drive device 32, the casting swing bracket 33, and the casting support bracket 34 rotate along the circumference of the casting rotation driven gear 312.

[0073] The inner ring of the throwing rotation bearing and the throwing rotation motor 315 are both fixed on the frame 1, the outer ring of the throwing rotation bearing 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 provided 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.

[0074] The throwing support bracket 34 is fixed on the throwing rotating device 31, and the throwing swing bracket 33 is arranged on the throwing support bracket 34; the throwing swing bracket 33 and the throwing support bracket 34 are driven to rotate simultaneously by the throwing rotating device 31, thereby driving the rotation of the throwing support cavity 36, and at the same time, the throwing rotation driving gear 313 rotates and then the throwing rotation driven gear 312 is driven to rotate through the throwing rotation belt 314. The rotating driven gear 312 is fixedly connected to the outer ring of the throwing rotation bearing, and the inner ring of the throwing rotation bearing is fixed on the frame 1, thereby driving the throwing device 3 to rotate. The throwing device 3 is rotated by the cooperation of the throwing rotation bearing, the throwing rotation driven gear 312, the throwing rotation driving gear 313, the throwing rotation belt 314 and the throwing rotation motor 315, and the structure is simple.

[0075] 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 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 have outer peripheral edges that protrude outward relative to the casting rotation driven gear 312, limit the casting rotation belt 314 so that the casting rotation belt 314 will not separate from the casting rotation driven gear 312 when rotating; thus, the transmission reliability is high.

[0076] The casting rotation device 31 also includes a tensioning structure disposed between the casting rotation driven gear 312 and the casting rotation driving gear 313. The tensioning structure includes a tensioning bracket 318 fixed to the frame 1; a tensioning pulley 319 is provided on the tensioning bracket 318; a tensioning area is formed between the tensioning bracket 318 and the tensioning pulley 319; and the casting rotation belt 314 passes through the tensioning area and is sleeved on the casting rotation driven gear 312 and the casting rotation driving gear 313. The tensioning structure restricts the tension of the belt between the casting rotation driven gear 312 and the casting rotation driving gear 313, making the driving of the casting rotation driven gear 312 and the casting rotation driving gear 313 more reliable and effective.

[0077] A first loading swing plate 421 is provided at one end of the loading swing bracket 42, and a second loading swing plate 422 is provided at the other end of the loading swing bracket 42; the first loading swing plate 421 and the second loading swing plate 422 are arranged in parallel; a first swing opening 423 is provided on the first loading swing plate 421; a second swing opening 424 is provided on the second loading swing plate 422; the first swing opening 423 and the second swing opening 424 are arranged coaxially with the center of the circle.

[0078] The bullet-loading clamping device 44 is rotatably connected to the first swing opening 423 via a first bullet-loading rotating bearing 451 ; the bullet-loading clamping device 44 is rotatably connected to the second swing opening 424 via a second bullet-loading rotating bearing 452 .

[0079] 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 to 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 inserted through the loading rotation driven gear 433 and fixedly connected to the loading rotation driven gear 433. The loading rotation driven gear 433 is provided with a loading hole 4331. The loading clamping device 44 is inserted through the loading hole 4331 and fixedly connected to the loading rotation driven gear 433. The loading rotation driving gear 432 meshes with the loading rotation driven gear 433. Because the loading clamping device 44 is rotatably mounted on the loading swing bracket 42, the loading rotation motor 431 drives the loading clamping device 44 to rotate along the axis of the first swing opening 423 and the second swing opening 424.

[0080] The loading and holding device 44 is installed on the loading and rotating driven gear 433 and is engaged with the loading and rotating driven gear 433; the loading and rotating driving gear 432 is engaged with the loading and rotating driven gear 433; the loading and holding device 44 is driven to rotate by the loading and rotating motor 431, which can reduce the size of the loading and rotating device 43.

[0081] The loading and holding device 44 includes a loading and holding cylinder 441, a loading and holding hand 443 and a fastening assembly 442. The loading and holding cylinder 441 is provided on the loading and holding connection hole and is fixedly connected to the loading and holding rotation driven gear 433.

[0082] There are two groups of fastening assemblies 442, and the two fastening assemblies 442 are arranged opposite to each other; one group of fastening assemblies 442 is arranged on one side of the loading and clamping cylinder 441, and the other group of fastening assemblies 442 is arranged on the other side of the loading and clamping cylinder 441; each group of fastening assemblies includes a first fastener 4421 and a second fastener 4422.

[0083] The first fastening member 4421 includes a first fastening portion 4423 connected to the side of the loading and clamping cylinder 441. A first loading and rotating bearing 451 is sleeved between the two first fastening portions 4423 and disposed in the first swinging opening 423. A second fastening portion 4424 is provided at the top of the first fastening portion 4423. The second fastening portion 4424 is perpendicular to the first fastening portion 4423 and extends outside the first swinging opening 423. The second fastening portion 4424 overlaps the first loading and swinging plate 421. A second fastening member 4422 is connected to the first fastening portion 4423 and secures the first loading and rotating bearing 451 between the second fastening portion 4424 and the second fastening member 4422. The loading and clamping cylinder 441 is inserted into the loading connection hole, and the loading and rotating driven gear 433 is connected to the bottom end of the first fastening portion 4423.

[0084] A third fastener 4425 is provided on the top of one of the second fastening portions 4424. A clamping sensor 46 is provided on the third fastener 4425. The clamping sensor 46 is used to detect the arrow 5. When the clamping sensor 46 detects the arrow, the loader clamps the arrow 5.

[0085] The second fastening portion 4424 and the second fastening member 4422 are provided to clamp the first loading rotation bearing 451. The second fastening portion 4424 overlaps the first loading swing plate 421, preventing the first loading rotation bearing 451 from disengaging from the first swing opening 423. This ensures high reliability in the rotation of the loading clamping device 44 on the loading swing bracket 42. Simultaneously, the bottom of the first fastening portion 4423 is connected to the loading rotation driven gear 433, thereby securing the loading rotation driven gear 433 relative to the loading clamping cylinder 441. The fastening assembly 442 is provided to simultaneously limit the first loading rotation bearing 451 and secure the loading rotation driven gear 433, resulting in a simple structure.

[0086] The loading clamp hand 443 includes two loading clamping parts 4431; one loading clamping part 4431 is connected to one output end of the loading clamping cylinder 441, and the other loading clamping part 4431 is connected to the other output end of the loading clamping cylinder 441; each loading clamping part 4431 includes more than two loading clamping parts 4432; the loading clamping part 4432 connected to one output end of the loading clamping cylinder 441 and the loading clamping part 4432 connected to the other output end of the loading clamping cylinder 441 are alternately arranged.

[0087] The bullet-loading clamping portion 4432 includes a first clamping portion 4433 , on which an arc-shaped second clamping portion 4434 extends, and a clamping area 4435 is formed between the second clamping portion 4434 and the first clamping portion 4433 ; the clamping areas 4435 of adjacent bullet-loading clamping portions 4432 are stacked.

[0088] The loading and clamping cylinder 441 drives the loading and clamping hands 443 to clamp or open, thereby clamping or removing the arrow 5; the adjacent clamping areas 4435 are stacked to extend the clamping length of the loading and clamping hands 443, which can better clamp the arrow 5; at the same time, the loading and clamping parts 4432 connected to the two output ends of the loading and clamping cylinder 441 are alternately arranged, and the loading and clamping parts 4432 at one output end of the loading and clamping cylinder 441 swing in one direction, and the loading and clamping parts 4432 at the other output end of the loading and clamping cylinder 441 swing in the opposite direction of the relative loading and clamping parts 4432, so that the clamping effect on the arrow 5 is good.

[0089] In this embodiment, a protrusion 4436 extends from a clamping area 4435 at one end of the second clamping portion 4434 away from the first clamping portion 4433. The protrusion 4436 reduces the space in the clamping area 4435, thereby further improving the clamping of the arrow 5.

[0090] The retrieval and clamping device 23 includes a retrieval and clamping cylinder and a retrieval hand. In this embodiment, the retrieval and clamping cylinder 441 have the same structure as the loading and clamping cylinder 441; the retrieval and clamping hand 443 have the same structure. The retrieval and clamping cylinder is provided with a clamping sensor 46. When the clamping sensor 46 on the retrieval and clamping cylinder detects an arrow, the retrieval hand clamps the arrow.

[0091] 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 on the transverse movement bracket 211 and the transverse movement bracket 211 to slide synchronously on the transverse movement bracket 211 and the transverse movement bracket 211 on the transverse movement lower plate 212.

[0092] 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 .

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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 .

[0097] 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.

[0098] 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.

[0099] In this embodiment, a support portion 332 is provided on the first support member 331. The support portion 332 is a structure recessed inward from the surface of the first support member 331. The support portion 332 is configured to fit over the arrow head of the arrow 5 and support the arrow 5. The arrow head 51 is pressed against the support portion 332, which supports the arrow head 51 of the arrow 5, thereby ensuring a more stable placement of the arrow 5 in the casting support cavity 36.

[0100] 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.

[0101] The storage and filling device also includes a moving device, which is mounted on the frame 1 and is used to drive the frame 1 to move. The moving device drives the frame 1 to move closer to the projection target. The moving device includes three sets of moving wheels, each set of which is driven by an independent motor.

[0102] like Figure 19 As shown, the storage filling method includes the following steps:

[0103] (1) The retrieval lateral movement device 21 drives the retrieval lateral movement bracket to move, and one or more retrieval clamping devices 23 and one or more loading clamping devices 44 are alternately arranged. The loading swing drive device drives the loading clamping device 44 to approach the retrieval device and be arranged parallel to the retrieval clamping device 23.

[0104] (2) A loading and holding device 44 holds an arrow at the end of the arrow shaft near the tail; a removing and holding device 23 holds another arrow at the end of the arrow shaft near the arrow head.

[0105] (3) The loading and rotating device drives the loading and holding device 44 to rotate, and the loading and holding device 44 drives the arrow to rotate so that the direction of the arrow head is consistent with the throwing direction of the throwing device.

[0106] (4) The loading swing drive device drives the loading clamping device 44 to approach the throwing device and provides the arrow to the throwing device. When the arrow is matched with the throwing device 3, the loading clamping device 44 releases the clamping of the arrow.

[0107] (5) The loading swing drive device drives the loading clamping device 44 away from the throwing support cavity; when the projectile device throws the arrow, (6) is performed.

[0108] (6) 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.

[0109] (7) The loading rotation device drives the loading clamping device to reset, and the loading swing drive device drives the loading clamping device to approach the retrieval clamping device and be arranged parallel to the retrieval clamping device.

[0110] (8) The loading and holding device clamps the arrow on the retrieval and holding device, and clamps it at the end of the arrow shaft near the tail of the arrow; the retrieval and holding device releases its clamping of the arrow.

[0111] (9) Repeat (3) to (8) until all the arrows on the storage filling device are thrown out.

[0112] In the above method, since the length of the loading device is greater than that of the retrieval device, when the loading device and the loading device are arranged in parallel, the loading clamping device extends outside the retrieval clamping device; thus, the arrow clamped by the loading clamping device and the arrow clamped by the retrieval clamping device are also parallel; 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 retrieval device.

[0113] Different arrows are clamped simultaneously by the bullet retrieval clamping device and the bullet loading clamping device. The bullet retrieval clamping device first provides the throwing device with arrows. After the arrow clamped by the bullet retrieval clamping device is thrown out, the bullet retrieval clamping device clamps the arrow clamped by the bullet loading clamping device and provides the throwing device with arrows again. In this way, multiple throwing of arrows can be achieved. At the same time, before the bullet retrieval clamping device and the bullet loading clamping device clamp the arrow, the bullet retrieval transverse moving bracket moves, so that the bullet retrieval clamping device and the bullet loading clamping device are alternately arranged. In this way, the situation where the bullet retrieval clamping device and the bullet loading clamping device clamp the same arrow is avoided.

[0114] The arrow can only be thrown when the direction of the arrow head is consistent with the throwing direction of the throwing support 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 device; then the loading and clamping device is rotated so that the direction of the arrow head is consistent with the throwing direction of the throwing device. When the arrow is matched with the throwing device, the loading and clamping device releases the clamping of the arrow and resets.

[0115] In the above method,

[0116] In (1), the ammunition retrieval transverse movement device drives the ammunition retrieval transverse movement bracket to move, and one or more ammunition retrieval clamping devices and one or more ammunition loading clamping devices are alternately arranged. Specifically, the transverse movement driving device drives the ammunition retrieval transverse movement bracket and the transverse movement bracket to move simultaneously in the direction close to the first transverse movement transmission wheel; so that one 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 alternately arranged; 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.

[0117] In (2), the loading and clamping device clamps an arrow. Specifically, the loading and clamping cylinder drives the loading and clamping hand to open, and the frame moves toward 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 because the clamping sensor detects the arrow and controls the loading and clamping hand.

[0118] (3) The direction of the arrow head of the arrow is made consistent with the throwing direction of the throwing device, specifically: the direction of the arrow head of the arrow is made consistent with the throwing direction of the throwing support cavity.

[0119] The loading and holding device is driven by a rotating motor to rotate the loading and holding device. Specifically, a loading and holding motor drives the loading and holding device to rotate about the center of the first and second swinging openings. The loading and holding device rotates the arrow so that the arrow's arrowhead is aligned with the casting direction of the casting support cavity. Specifically, in this embodiment, the arrow is placed with its arrowhead facing downward. After the loading and holding device grips the arrow, the loading and holding device is driven by the rotating motor to rotate the loading and holding device 180°. In this embodiment, the two loading and holding devices rotate in opposite directions. As the two loading and holding devices rotate, the tails of the two arrows first approach and then separate. Due to the limited space between the two loading and holding devices, the two loading and holding devices rotate in opposite directions. As a result, the tails of the two arrows first approach and then separate. That is, during the arrow's rotation, the nock is contained within the space between the two loading and clamping devices. Furthermore, because the loading and clamping devices hold the end of the arrow shaft near the nock, the distance between the nock and the loading and clamping devices is short, and the arrow occupies less space between the two loading and clamping devices. This prevents the two arrows from colliding when they rotate simultaneously. The loading and clamping device on the left rotates clockwise, while the loading and clamping device on the right rotates counterclockwise. Because the loading and clamping devices are held at the end of the arrow shaft near the nock, this prevents the two arrows from colliding when they rotate simultaneously.

[0120] (4), when the arrow cooperates with the throwing device, specifically: when the arrow contacts the first supporting member, the loading and clamping device releases its clamping of the arrow, and the arrow shaft slides into the throwing supporting cavity under the action of gravity, and the throwing supporting cavity limits the arrow head.

[0121] (4) Also included are: two loading and holding devices respectively placing arrows in corresponding throwing support cavities. If the two loading and holding devices successively place arrows in corresponding throwing support cavities, the two arrows can be launched at the same target continuously; if the two loading and holding devices simultaneously place arrows in corresponding throwing support cavities, the two arrows can be launched at the same target simultaneously.

[0122] (5) The projectile device throws the arrow, specifically: the throwing drive device drives the throwing swing bracket to swing away from the throwing support bracket, and the first support member pushes the arrow to be thrown.

[0123] (6) Specifically: If all the bullet-retrieving and clamping devices hold arrows, proceed to (6.1); if the arrows of another bullet-retrieving and clamping device and another bullet-retrieving and clamping device are both clamped, proceed to (6.2).

[0124] (6.1) The transverse drive device drives the retrieval transverse bracket and the transverse bracket to move simultaneously toward the second transverse transmission wheel, so that another retrieval clamping device corresponds to a loading clamping device, and another retrieval clamping device corresponds to another loading clamping device.

[0125] (6.2) The transverse drive device drives the ammunition retrieval transverse bracket and the transverse bracket to move simultaneously in a direction close to the second transverse transmission wheel, so that a ammunition retrieval clamping device corresponds to a loading clamping device or another loading clamping device.

[0126] 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 storing and filling arrows, wherein a storage and filling device is used to provide arrows to a throwing device, wherein the arrows include an arrowhead, an arrow shaft, and a nock, wherein the arrow shaft connects the arrowhead and the nock, and the cross-section of the arrowhead is larger than the cross-section of the arrow shaft, wherein: The material storage and filling device includes a frame, on which a bullet-taking device and one or more bullet-feeding devices are provided, a throwing device is arranged above the bullet-feeding device, and a bullet-feeding device is arranged above the bullet-taking device; the length of the bullet-feeding device is greater than that of the bullet-taking device; the bullet-taking device provides arrows for the bullet-feeding device; the bullet-feeding device provides arrows for the throwing device; the bullet-feeding device includes a bullet-feeding swing driving device, a bullet-feeding swing bracket, a bullet-feeding rotating device and a bullet-feeding clamping device; the bullet-feeding swing driving device is fixed to the frame, and the output end of the bullet-feeding swing driving device is connected to the bullet-feeding swing bracket; the bullet-feeding rotating device is fixed to the bullet-feeding swing bracket, and the output end of the bullet-feeding rotating device is connected to the bullet-feeding clamping device; the bullet-feeding clamping device is used to clamp the arrow to be launched, and the bullet-feeding rotating device is used to drive the bullet-feeding clamping device to rotate; 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 ammunition retrieval transverse movement device is arranged on the frame, 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 retrieval clamping devices are arranged on the ammunition retrieval transverse movement bracket; the ammunition retrieval transverse movement device drives the ammunition retrieval clamping device to move in a direction perpendicular to the swing direction of the delivery swing bracket; the ammunition loading swing drive device is used to drive the ammunition loading clamping device to swing between the delivery device and the ammunition retrieval clamping device; The storage filling method comprises the following steps: (1) The retrieval lateral movement device drives the retrieval lateral movement bracket to move, and one or more retrieval clamping devices and one or more loading clamping devices are alternately arranged; the loading swing drive device drives the loading clamping device to approach the retrieval device and be arranged parallel to the retrieval clamping device; (2) A loading and holding device holds an arrow at the end of the arrow shaft near the tail; a removing and holding device holds another arrow at the end of the arrow shaft near the arrow head; (3) The loading and rotating device drives the loading and holding device to rotate, and the loading and holding device drives the arrow to rotate so that the direction of the arrow head is consistent with the throwing direction of the throwing device; (4) The loading swing drive device drives the loading clamping device to approach the throwing device and provides the arrow to the throwing device. When the arrow is engaged with the throwing device, the loading clamping device releases the clamping of the arrow; (5) The loading swing drive device drives the loading clamping device away from the throwing device; when the throwing device throws the arrow, (6) is performed; (6) The bullet retrieval and lateral movement device drives the bullet retrieval and lateral movement bracket to move so that a bullet retrieval clamping device holding an arrow is positioned corresponding to a bullet loading clamping device; (7) The loading rotation device drives the loading clamping device to reset, and the loading swing drive device drives the loading clamping device to approach the retrieval clamping device and be arranged parallel to the retrieval clamping device; (8) The loading and holding device clamps the arrow on the 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; (9) Repeat (3)-(8) until all the arrows on the storage filling device are thrown out; A first loading swing plate is provided at one end of the loading swing bracket, and a second loading swing plate is provided at the other end of the loading swing bracket; the first loading swing plate is arranged parallel to the second loading swing plate; a first swing opening is provided on the first loading swing plate; a second swing opening is provided on the second loading swing plate; the first swing opening and the second swing opening are arranged coaxially. The transverse drive device drives the ammunition retrieval transverse movement bracket and the transverse movement bracket to move simultaneously toward the first transverse transmission wheel; so that one ammunition retrieval clamping device is arranged adjacent to another ammunition retrieval clamping device, and the other ammunition retrieval clamping device, a loading clamping device, another loading clamping device, and another clamping device are arranged alternately; this prevents the loading clamping device and the retrieval clamping device from interfering with each other when clamping arrows; the loading clamping device and the retrieval clamping device can clamp different arrows simultaneously; The bullet-loading rotating device includes a bullet-loading rotating motor, a bullet-loading rotating driving gear, and a bullet-loading rotating driven gear; the bullet-loading rotating motor is fixed on the bullet-loading swinging bracket, and the output end of the bullet-loading rotating motor is connected to the bullet-loading rotating driving gear; the bullet-loading clamping device is passed through the bullet-loading rotating driven gear and is fixedly connected to the bullet-loading rotating driven gear, and a bullet-loading through-hole is provided on the bullet-loading rotating driven gear; the bullet-loading clamping device is passed through the bullet-loading through-hole and is fixedly connected to the bullet-loading rotating driven gear; the bullet-loading rotating driving gear is meshed with the bullet-loading rotating driven gear, and since the bullet-loading clamping device is rotatably arranged on the bullet-loading swinging bracket, the bullet-loading rotating motor drives the bullet-loading clamping device to rotate along the axis of the first swinging opening and the second swinging opening.

2. A storage filling method according to claim 1, characterized in that: The ammunition loading and clamping device includes an ammunition loading and clamping cylinder and an ammunition loading and clamping hand. A clamping sensor is fixed to the ammunition loading and clamping cylinder. The ammunition loading and clamping hand includes two ammunition loading and clamping members. One ammunition loading and clamping member is connected to one output end of the ammunition loading and clamping cylinder, and the other ammunition loading and clamping member is connected to the other output end of the ammunition loading and clamping cylinder. The ammunition loading and clamping member includes two or more ammunition loading and clamping parts. The ammunition loading and clamping parts connected to one output end of the ammunition loading and clamping cylinder and the ammunition loading and clamping parts connected to the other output end of the ammunition loading and clamping cylinder are arranged alternately. The bullet-loading 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.

3. A storage filling method according to claim 2, characterized in that: (2) In the embodiment, 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 moves toward the arrow. When the clamping sensor detects the arrow, the frame stops moving; then the loading and clamping cylinder drives the loading and clamping hand to open and clamp the arrow shaft in the clamping area.

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

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

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

7. A storage and filling method according to claim 5, characterized in that: The bullet retrieval clamping device is provided with three; the bullet retrieval transverse movement device includes a transverse movement bracket, a transverse movement lower plate and a transverse movement driving device; the transverse movement bracket is slidably arranged on the transverse movement lower plate, and the transverse movement lower plate is fixed to the bullet retrieval bracket; the bullet retrieval transverse movement bracket is slidably arranged on the transverse movement bracket; the transverse movement driving device drives the bullet retrieval transverse movement bracket 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; the second transverse clamping device is clamped on the transverse belt sleeve between the bottom end of the first transverse transmission wheel and the bottom end of the second transverse transmission wheel.

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

9. A storage and filling method according to claim 7, characterized in that: (6) Specifically: If all the retrieval and clamping devices hold arrows, proceed to (6.1); if the arrows of another retrieval and clamping device and another retrieval and clamping device are both held, proceed to (6.2); (6.1) The transverse drive device drives the ammunition retrieval transverse movement bracket and the transverse movement bracket to move simultaneously in a direction close to the second transverse transmission wheel, so that another ammunition retrieval clamping device corresponds to one ammunition loading clamping device, and another ammunition retrieval clamping device corresponds to another ammunition loading clamping device; (6.2) The transverse drive device drives the ammunition retrieval transverse bracket and the transverse bracket to move simultaneously in a direction close to the second transverse transmission wheel, so that a ammunition retrieval clamping device corresponds to a loading clamping device or another loading clamping device.

Images