A mobile multi-angle shooting training robot for shooting assistance

Abstract

This invention discloses a mobile multi-angle target training robot for shooting assistance, comprising a walking base with a reversing chamber inside. A control unit and a first motor are fixedly installed within the reversing chamber, and the control unit is electrically connected to the first motor. A transmission rod is fixedly connected to the output end of the first motor, and a random motion mechanism is connected to the middle of the transmission rod. A drive gear is interference-fitted to the end of the transmission rod away from the first motor. A lead screw is horizontally mounted in the middle of the reversing chamber, and a driven gear is fixedly installed at one end of the lead screw, meshing with the drive gear. The position and angle of the target surface change randomly within a certain range, thereby increasing the difficulty of shooting training and requiring higher design capabilities from the trainees. The position and angle of the target surface change unpredictably, and even after multiple training sessions, trainees cannot predict them based on experience, thus enriching the training methods.

Description

Technical Field

[0001] This invention relates to the field of target shooting robot technology, and in particular to a mobile multi-angle target shooting training robot for shooting assistance. Background Technology

[0002] Conventional target practice robots only have simple straight-line walking capabilities. Trainees mainly use fixed targets and rails for shooting training. Although the targets also have raising, lowering, or tilting functions, the target elevation angles are mostly specific values ​​such as 45°, 90°, and 180°, which are quite predictable and deviate significantly from actual conditions. This results in problems such as the target being static and having poor mobility, which greatly limits the effectiveness of shooting training. After multiple training sessions, trainees can roughly predict the target position based on experience, thus losing the training effect. Therefore, we propose a mobile multi-angle target practice robot for shooting assistance. Summary of the Invention

[0003] The purpose of this invention is to solve the problem that existing robots used for shooting training have obvious patterns and poor mobility when driving the target, which significantly limits the shooting training effect. Therefore, this invention proposes a mobile multi-angle shooting training robot for shooting assistance.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A mobile multi-angle target training robot for shooting assistance includes a walking base with a reversing chamber inside. A control unit and a first motor are fixedly installed inside the reversing chamber, and the control unit is electrically connected to the first motor. A transmission rod is fixedly connected to the output end of the first motor. A random motion mechanism is connected to the middle of the transmission rod. A drive gear is interference-fitted to the end of the transmission rod away from the first motor. A lead screw is horizontally installed in the middle of the reversing chamber. A driven gear is fixedly installed at one end of the lead screw, and the driven gear meshes with the drive gear. A displacement mechanism is also installed on the lead screw. A displacement groove communicating with the reversing chamber is opened on the top of the walking base. A support rod is movably placed in the displacement groove and fixedly connected to the displacement mechanism. The width of the displacement groove is greater than the diameter of the support rod. A connecting rod is connected to the upper end of the support rod via a vibration device, and a target surface is supported on the connecting rod.

[0006] Furthermore, the displacement mechanism includes a bushing that is installed in conjunction with a lead screw. A bearing sleeve is coaxially disposed on the outer side of the bushing. A half gear is connected to the bearing sleeve, and the central axis of the half gear coincides with the central axis of the bearing sleeve. The half gear includes a tooth surface and a smooth surface. The bottom of the support rod is fixedly connected to the smooth surface.

[0007] Furthermore, two support arms are symmetrically arranged on the bushing. One of the support arms is fixedly supported by a second motor. A cylindrical gear is fixedly connected to the output end of the second motor. A lower hanging piece is rotatably connected between the end of the cylindrical gear away from the second motor and the other support arm. The cylindrical gear meshes with the half gear for transmission.

[0008] Furthermore, the random motion mechanism includes an external gear that is interference-fitted with the transmission rod. A limiting seat is fixedly installed on the inner bottom wall of the reversing chamber. An internal gear ring is rotatably disposed on the limiting seat. The external gear is located inside the internal gear ring and meshes with the internal gear ring for transmission. Multiple magnetic strips are embedded circumferentially inside the internal gear ring, and the magnetic induction intensity of two adjacent magnetic strips is different. The polarity direction of each magnetic strip is parallel to the central axis of the transmission rod.

[0009] Furthermore, a Hall sensor is installed inside the bottom wall of the reversing chamber. The Hall sensor is located directly below the limiting seat and is electrically connected to the control unit.

[0010] Furthermore, the vibration device includes a fixed sleeve that is fixedly connected to the support rod. The top of the fixed sleeve has a movable groove. The connecting rod is inserted into the fixed sleeve through the movable groove, and the inner diameter of the movable groove is larger than the diameter of the connecting rod. At least one main spring is fixedly installed at the bottom of the connecting rod, and multiple lateral springs are symmetrically arranged on the inner wall of the fixed sleeve.

[0011] Furthermore, an electromagnet is fixedly installed on the inner bottom wall of the fixed sleeve, and the electromagnet is electrically connected to the control unit. A rigid protective shell is provided on the outer side of the electromagnet. A support ring is fixedly installed at the bottom of the connecting rod, and the main spring is located inside the support ring. The support ring is made of ferromagnetic material.

[0012] Furthermore, the magnetic field generated by the electromagnet after current is applied points radially toward the support ring. When the current through the electromagnet is zero, the length of the main spring is greater than the thickness of the support ring. When the lower surface of the support ring is completely in contact with the lower surface of the electromagnet, the central axis of the connecting rod coincides with the central axis of the support rod.

[0013] The present invention has the following advantages:

[0014] The training robot has a pair of wheels, which can move flexibly within the training area to plan different training routes. During the training process, the first motor transmits power through various components, causing the bushing to move along the lead screw to change the position of the target surface.

[0015] The second motor drives the transmission through corresponding components, causing the half gear to move synchronously, and the support rod swings in a direction perpendicular to the shaft sleeve axis to change the angle of the target surface.

[0016] Within the same rotation cycle, the angular velocity of the output shaft of the first motor or the second motor can be changed, that is, the direction of movement, speed of movement, and pitch angle of the target surface can be flexibly changed, making shooting training closer to the actual situation, thereby improving the training effect;

[0017] The different magnetic induction intensities of two adjacent magnetic strips cause the feedback signal sent by the Hall sensor to the control unit to be in a changing state, which in turn causes the intensity of the magnetic field excited by the electromagnet to change, altering the constraint force on the support ring. The connecting rod moves the target surface upward by one end, and the main spring causes the height of the target surface to change within a small range. When the connecting rod collides with the lateral spring, it also affects the position of the target surface, causing the position and angle of the target surface to change randomly within a certain range, thereby increasing the difficulty of shooting training and requiring higher design capabilities from the trainees.

[0018] The position and angle of the target surface are unpredictable, and even after multiple training sessions, trainees cannot predict them based on experience, thus enriching the training methods. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a mobile multi-angle target training robot for shooting assistance proposed in this invention.

[0020] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0021] Figure 3 This is a front structural diagram of the half gear and bearing sleeve in a mobile multi-angle shooting training robot for shooting assistance proposed in this invention.

[0022] Figure 4 for Figure 1 Enlarged view at point B in the middle;

[0023] Figure 5 This invention presents a schematic diagram of the internal structure of the fixed sleeve in a mobile multi-angle shooting training robot for shooting assistance.

[0024] In the diagram: 1. Traveling seat, 2. Reversing chamber, 3. Support rod, 4. Fixing sleeve, 5. Connecting rod, 6. Target surface, 7. Displacement groove, 8. Control unit, 9. First motor, 10. Lead screw, 11. Transmission rod, 12. Driving gear, 13. Driven gear, 14. Shaft sleeve, 15. Bearing sleeve, 16. Half gear, 17. Support arm, 18. Lower hanging part, 19. Cylindrical gear, 20. Second motor, 21. External gear, 22. Internal gear ring, 23. Magnetic strip, 24. Limit seat, 25. Hall sensor, 26. Movable groove, 27. Lateral spring, 28. Main spring, 29. Electromagnet, 30. Support ring. Detailed Implementation

[0025] Reference Figure 1A mobile multi-angle target training robot for shooting assistance includes a walking base 1. The walking base 1 includes walking wheels and a drive unit (not shown) for driving the walking wheels to rotate. How the drive unit enables the walking base 1 to move freely is existing technology and will not be described in detail here. A reversing compartment 2 is provided inside the walking base 1. A control unit 8 and a first motor 9 are fixedly installed in the reversing compartment 2, and the control unit 8 is electrically connected to the first motor 9. A transmission rod 11 is fixedly connected to the output end of the first motor 9. A random motion mechanism is connected to the middle of the transmission rod 11, and the end of the transmission rod 11 away from the first motor 9 is interference-fitted. A drive gear 12 is used in conjunction with a lead screw 10 horizontally mounted in the middle of the reversing chamber 2. A driven gear 13 is fixedly mounted at one end of the lead screw 10, and the driven gear 13 meshes with the drive gear 12 for transmission. A displacement mechanism is also mounted on the lead screw 10. A displacement groove 7 communicating with the reversing chamber 2 is opened on the top of the traveling seat 1. A support rod 3 is movably placed in the displacement groove 7, and the support rod 3 is fixedly connected to the displacement mechanism. The width of the displacement groove 7 is greater than the diameter of the support rod 3, so that the support rod 3 can rotate back and forth within a certain angle unit. The upper end of the support rod 3 is connected to a connecting rod 5 through a vibration device, and a target surface 6 is supported on the connecting rod 5. Figure 1 This is a schematic diagram of the back structure of target surface 6.

[0026] The displacement mechanism includes a bushing 14 that is installed in conjunction with the lead screw 10. A bearing sleeve 15 is coaxially provided on the outer side of the bushing 14. A half gear 16 is connected to the bearing sleeve 15. The bearing sleeve 15 and the half gear 16 are coaxially arranged. The half gear 16 includes a tooth surface and a smooth surface. The bottom of the support rod 3 is fixedly connected to the smooth surface.

[0027] Two support arms 17 are symmetrically arranged on the bushing 14. One of the support arms 17 is fixedly supported by the second motor 20. The second motor 20 can be connected to the control unit 8 via either an elastic wire or a Bluetooth module, which is not limited here. The output end of the second motor 20 is fixedly connected to a cylindrical gear 19. The end of the cylindrical gear 19 away from the second motor 20 is rotatably connected to the other support arm 17 by a lower hanging piece 18. The external gear 21 is located in the internal gear ring 22 and meshes with the internal gear ring 22 for transmission. When the two rotate synchronously, the cylindrical gear 19 contacts the tooth surface of the half gear 16 but does not contact the smooth surface of the half gear 16 to avoid collision with the support rod 3. The first motor 9 and the second motor 20 are both forward and reverse motors with a fixed cycle. Within the same rotation cycle, the angular velocity of the output shaft of the first motor 9 or the second motor 20 can be varied.

[0028] The random motion mechanism includes an external gear 21 that is interference-fitted with the transmission rod 11. A limit seat 24 is fixedly installed on the inner bottom wall of the reversing chamber 2. An internal gear ring 22 is rotatably mounted on the limit seat 24. The limit seat 24 supports the internal gear ring 22 and ensures that the axial position of the internal gear ring 22 does not change when it rotates. The internal gear ring 22 meshes with the external gear 21 for transmission. Multiple magnetic strips 23 are embedded in the inner circumference of the internal gear ring 22, and the magnetic induction intensity of two adjacent magnetic strips 23 is different. The polarity direction of each magnetic strip 23 is parallel to the central axis of the transmission rod 11, ensuring that the magnetic pole direction of the magnetic strip 23 is in the vertical plane when it rotates.

[0029] A Hall sensor 25 is installed inside the bottom wall of the reversing chamber 2. The Hall sensor 25 is located directly below the limit seat 24. The Hall sensor 25 is electrically connected to the control unit 8. The number of magnetic strips 23 is relatively small. When one of the magnetic strips 23 moves directly above the Hall sensor 25, the magnetic field of the other magnetic strips 23 has little effect on the Hall sensor 25, so as to reduce the interference to the Hall sensor 25.

[0030] The vibration device includes a fixed sleeve 4 that is fixedly connected to the support rod 3. The top of the fixed sleeve 4 is provided with a movable groove 26. The connecting rod 5 is inserted into the fixed sleeve 4 through the movable groove 26. The inner diameter of the movable groove 26 is larger than the diameter of the connecting rod 5, so that the connecting rod 5 has a certain displacement space. At least one main spring 28 is fixedly provided at the bottom of the connecting rod 5. Multiple lateral springs 27 are symmetrically arranged on the inner wall of the fixed sleeve 4.

[0031] An electromagnet 29 is fixedly installed on the inner bottom wall of the fixed sleeve 4, and the electromagnet 29 is electrically connected to the control unit 8. A rigid protective shell is provided on the outside of the electromagnet 29. A support ring 30 is fixedly installed at the bottom of the connecting rod 5, and the main spring 28 is located inside the support ring 30. The support ring 30 is made of ferromagnetic material.

[0032] When current is passed through electromagnet 29, the magnetic field it generates points radially toward support ring 30. When the current through electromagnet 29 is zero, the length of main spring 28 is greater than the thickness of support ring 30. When the current through electromagnet 29 decreases, the length of main spring 28 is greater than the thickness of support ring 30, causing support ring 30 to separate from electromagnet 29. When main spring 28 deforms, support ring 30 and connecting rod 5 lose balance, thereby causing target surface 6 to move randomly. When the lower surface of support ring 30 is completely in contact with the lower surface of electromagnet 29, the central axis of connecting rod 5 coincides with the central axis of support rod 3.

[0033] After detecting a change in the surrounding magnetic field, the Hall sensor 25 sends a feedback signal to the control unit 8. The control unit 8 adjusts the current supplied to the electromagnet 29 according to the feedback signal. For example, when the magnetic strip 23 with a smaller magnetic induction intensity is close to the Hall sensor 25, the current supplied to the electromagnet 29 decreases, but the change is small. If the magnetic strip 23 with a larger magnetic induction intensity is close to the Hall sensor 25, the current supplied to the electromagnet 29 decreases significantly, and vice versa.

[0034] The training robot moves flexibly in the training field via the walking seat 1. The walking route is set according to actual needs. During training, the output shaft of the first motor 9 drives the transmission rod 11 to rotate. The active gear 12 and the external gear 21 drive the driven gear 13 and the internal gear ring 22 to rotate respectively. The lead screw 10, which is coaxially connected to the driven gear 13, will also rotate synchronously, so that the bushing 14 moves along the lead screw 10 to change the position of the target surface 6.

[0035] During the movement of the bushing 14, the output end of the second motor 20 drives the cylindrical gear 19 to rotate, and the half gear 16 meshing with the cylindrical gear 19 moves synchronously, causing the support rod 3 to swing in a direction perpendicular to the axis of the bushing 14, so as to change the angle of the target surface 6.

[0036] It should be noted that both the first motor 9 and the second motor 20 are reversible motors, and their output shafts can rotate clockwise or counterclockwise and have a certain rotation cycle. Within the same rotation cycle, the angular velocity of the output shaft of the first motor 9 or the second motor 20 can be changed, that is, the direction of movement, speed of movement, and pitch angle of the target surface 6 can be flexibly changed, making shooting training closer to the actual situation, thereby improving the training effect.

[0037] When the external gear 21 drives the internal gear ring 22 to rotate, the magnetic strip 23 on the internal gear ring 22 will alternately approach the Hall sensor 25. After the Hall sensor 25 detects the change in the surrounding magnetic field, it will send a feedback signal to the control unit 8. The control unit 8 adjusts the current of the electromagnet 29 according to the feedback signal. In the initial state, the current of the electromagnet 29 is at its maximum value, and the magnetic force on the support ring 30 is at its maximum value. At this time, the lower surface of the support ring 30 is in full contact with the upper surface of the electromagnet 29, and the support ring 30 is coaxial with the support rod 3.

[0038] Because the magnetic induction intensities of two adjacent magnetic strips 23 are different, the feedback signal sent by the Hall sensor 25 to the control unit 8 is changing, and the magnitude of the current flowing through the electromagnet 29 is also changing, causing the magnitude of the magnetic field generated by the electromagnet 29 in the vertical direction to change.

[0039] In the initial state, the current flowing through the electromagnet 29 is at its maximum value, and the magnetic force acting on the support ring 30 is at its maximum value. At this time, the lower surface of the support ring 30 is in full contact with the upper surface of the electromagnet 29. The outer side of the electromagnet 29 is provided with a protective shell to avoid collision damage to the electromagnet 29. The main spring 28 is in the maximum compression state, and the connecting rod 5 and the target surface 6 are coaxial with the support rod 3, making the shooting training relatively easy.

[0040] When the intensity of the magnetic field excited by the electromagnet 29 changes, the magnetic force on the support ring 30 decreases. Under the action of the main spring 28, the connecting rod 5 drives the target surface 6 to move upward a certain distance, causing the height of the target surface 6 to change within a small range. Furthermore, when the connecting rod 5 collides with the lateral spring 27, it will also affect the position of the target surface 6, causing the position and angle of the target surface 6 to change randomly within a certain range, thereby increasing the difficulty of shooting training and requiring higher design capabilities from the trainees.

[0041] On the other hand, the position and angle of the target surface 6 are unpredictable, which improves the flexibility of the target shooting robot and avoids the problem of the target being stationary. Even after the trainees have participated in many training sessions, they cannot predict the position of the target surface 6 based on experience, thus enriching the training methods.

Claims

1. A mobile multi-angle shooting training robot for shooting assistance, comprising a walking base (1), characterized in that, The walking seat (1) is internally provided with a reversing bin (2), the reversing bin (2) is internally fixedly provided with a control unit (8) and a first motor (9), and the control unit (8) is electrically connected with the first motor (9), the output end of the first motor (9) is fixedly connected with a transmission rod (11), the middle part of the transmission rod (11) is connected with a random motion mechanism, the end of the transmission rod (11) away from the first motor (9) is provided with a driving gear (12) in interference fit, the middle part of the reversing bin (2) is horizontally provided with a lead screw (10), one end of the lead screw (10) is fixedly provided with a driven gear (13), and the driven gear (13) is in meshing transmission with the driving gear (12), the lead screw (10) is further provided with a displacement mechanism, the top of the walking seat (1) is provided with a displacement groove (7) in communication with the reversing bin (2), the displacement groove (7) movably holds a supporting rod (3), and the supporting rod (3) is fixedly connected with the displacement mechanism, the width of the displacement groove (7) is greater than the diameter of the supporting rod (3), the upper end of the supporting rod (3) is connected with a connecting rod (5) through a vibration device, and the connecting rod (5) supports a target surface (6); The random motion mechanism comprises an external gear (21) in interference fit with the transmission rod (11), the inner bottom wall of the reversing bin (2) is fixedly provided with a limiting seat (24), the limiting seat (24) is rotatably provided with an internal gear ring (22), the external gear (21) is located in the internal gear ring (22) and is in meshing transmission with the internal gear ring (22), a plurality of magnetic strips (23) are embedded in the inner circumferential surface of the internal gear ring (22), and the magnetic induction intensity of adjacent two magnetic strips (23) is different, and the polarity direction of each magnetic strip (23) is parallel to the middle axis of the transmission rod (11); The bottom wall of the reversing bin (2) is internally provided with a Hall sensor (25), the Hall sensor (25) is located directly below the limiting seat (24), and the Hall sensor (25) is electrically connected with the control unit (8); The vibration device comprises a fixed sleeve (4) fixedly connected with the supporting rod (3), the top of the fixed sleeve (4) is provided with a movable groove (26), the connecting rod (5) is inserted into the fixed sleeve (4) through the movable groove (26), the inner diameter of the movable groove (26) is greater than the diameter of the connecting rod (5), at least one main spring (28) is fixedly arranged at the bottom of the connecting rod (5), and a plurality of lateral springs (27) are symmetrically arranged on the inner wall of the fixed sleeve (4); The inner bottom wall of the fixed sleeve (4) is fixedly provided with an electromagnet (29), and the electromagnet (29) is electrically connected with the control unit (8), the outer side of the electromagnet (29) is provided with a hard protective shell, the bottom of the connecting rod (5) is fixedly provided with a supporting ring (30), and the main spring (28) is located in the supporting ring (30), and the supporting ring (30) is made of ferromagnetic material.

2. The mobile multi-angle target practice robot for shooting aid according to claim 1, characterized in that, The displacement mechanism comprises a shaft sleeve (14) matched with the lead screw (10), a bearing sleeve (15) coaxially arranged on the outer side of the shaft sleeve (14), a half gear (16) matched and connected on the bearing sleeve (15), and the central axis of the half gear (16) coincides with the central axis of the bearing sleeve (15), the half gear (16) comprises a gear tooth surface and a smooth surface, and the bottom of the support rod (3) is fixedly connected with the smooth surface.

3. The mobile multi-angle target practice robot for shooting aid according to claim 2, characterized in that, Two support arms (17) are symmetrically arranged on the shaft sleeve (14), one of the support arms (17) is fixedly provided with a second motor (20), the output end of the second motor (20) is fixedly connected with a cylindrical gear (19), and the cylindrical gear (19) is rotatably connected with a hanging piece (18) between the other support arm (17) and the end away from the second motor (20), and the cylindrical gear (19) is in meshing transmission with the half gear (16).

4. The mobile multi-angle target practice robot for shooting aid according to claim 1, characterized in that, When the electromagnet (29) is energized, the magnetic field direction is radially directed to the support ring (30), when the current of the electromagnet (29) is zero, the length of the main spring (28) is greater than the thickness of the support ring (30), when the lower surface of the support ring (30) is completely attached to the lower surface of the electromagnet (29), the central axis of the connecting rod (5) coincides with the central axis of the support rod (3).

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