Launching device, robot and launching method

Abstract

The present invention discloses a launching device, a robot and a launching method, which belong to the technical field of robots. The launching device comprises a launching frame, a pushing mechanism and two groups of launching mechanisms, wherein the two groups of launching mechanisms are respectively installed on both sides of the launching frame, and a launching channel is formed between the bottom of the launching mechanism and the upper end of the launching frame; the pushing mechanism is installed on the launching frame, and the pushing mechanism is used to push a launching ring. The launching mechanism comprises a driving member, a supporting frame and a launching assembly, and the launching assembly has a driving wheel, a launching belt and a driven wheel. The supporting frame is installed on the launching frame, and the first end of the driving member is installed on the supporting frame, and the second end of the driving member is connected to the driving wheel; the two ends of the launching belt are respectively sleeved on the outside of the driving wheel and the outside of the driven wheel. When in use, the launching belt moves quickly, and the friction between the launching belt and the launching ring is used to drive the launching ring to move forward, so that the launching ring has an initial acceleration at the exit of the launching channel, thereby realizing the launching operation of the launching device.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a launching device, a robot and a launching method. Background Art

[0002] Competitive robots are widely used in robot competitions. Existing robots need to launch targets, and the launch device needs to have certain stability and accuracy. Existing launch devices include pneumatic launch, elastic launch, friction wheel launch, etc. Pneumatic launch often uses a cylinder as the power element, combined with a connecting rod mechanism for launch; elastic launch uses springs or rubber bands to store energy and then releases the energy instantly through motors and servos for launch.

[0003] The above conventional launch types have the following disadvantages: 1. Cylinder launch requires a pressure vessel on the robot, which takes up a lot of machine space, and due to the loss of gas during movement, the launch ring will have deviations in each movement speed, resulting in unstable launch; 2. Elastic launch requires energy storage through springs or rubber bands. Springs and rubber bands will fatigue after repeated use and need to be replaced for a certain period of time, and the adjustable range of launch speed is small; 3. Friction wheel launch requires squeezing the launch object and launching through friction. Large deformation will affect the aerial posture of the object during the launch process, and large friction may cause damage to the surface of the object. Summary of the invention

[0004] The object of the present invention is to provide a launching device, a robot and a launching method, which can avoid squeezing a launching ring to deformation, and the robot has a large launch speed adjustment range, a stable and reliable launch speed, and a compact structure.

[0005] The technical solution is as follows:

[0006] A launching device comprises a launching frame, a pushing mechanism and two groups of launching mechanisms, wherein the two groups of launching mechanisms are respectively installed on both sides of the launching frame, and a launching channel is formed between the bottom of the launching mechanism and the upper end of the launching frame; the pushing mechanism is installed on the launching frame and is located between the two groups of launching mechanisms, and the pushing mechanism is used to push a launching ring so that the launching ring moves to the launching channel;

[0007] The launching mechanism comprises a driving member, a support frame and a launching assembly, wherein the launching assembly comprises a driving wheel, a launching belt and a driven wheel, the supporting frame is mounted on the launching frame, the first end of the driving member is mounted on the supporting frame, and the second end of the driving member is connected to the driving wheel;

[0008] The driving wheel is movably mounted on the first end of the support frame, the driven wheel is movably mounted on the second end of the support frame, the two ends of the transmitting belt are respectively sleeved on the outside of the driving wheel and the outside of the driven wheel, and at least a portion of the transmitting belt is located above the transmitting channel.

[0009] In one embodiment, the launching mechanism further comprises a tensioning assembly and a connecting shaft, the driven wheel or the driving wheel is rotatably matched with the support frame through the connecting shaft, the tensioning assembly comprises a connecting block, an adjusting rod and an adjusting cap, the connecting block has a bearing, and the end of the connecting shaft is installed in the bearing;

[0010] The adjusting rod is at least partially located in the connecting block, and the inner wall of the connecting block is threadedly matched with the outer wall of the adjusting rod. One end of the adjusting rod away from the connecting block passes through the supporting frame and is connected to the adjusting cap, and the adjusting cap abuts against the supporting frame.

[0011] In one embodiment, the support frame includes four first support plates, the four first support plates are connected end to end, the two ends of the connecting shaft are respectively mounted on two oppositely disposed first support plates, and the driving wheel and the driven wheel are both located between the two oppositely disposed first support plates;

[0012] The support frame also has a second support plate, a support block and a connecting plate. The support blocks are respectively fixed to the two first support plates that are oppositely arranged, and the support block is located between the two first support plates that are oppositely arranged. The support block is also fixed to one side of the connecting plate, and the other side of the connecting plate is fixed to the first end of the second support plate. The driving member is installed at the second end of the second support plate, and the bottom of the connecting plate is installed on the launching frame.

[0013] In one embodiment, the launch belt is extended in the horizontal direction, and the launch frame is provided with a smooth bar, the smooth bar is located in the launch channel, and the smooth bar is used to support the launch ring.

[0014] In one embodiment, the pushing mechanism includes a mounting seat, a cylinder, a telescopic portion and a pushing member, wherein the cylinder is mounted on the top of the mounting seat, the bottom of the mounting seat is mounted on the launching frame, and the cylinder is connected to the pushing member through the telescopic portion;

[0015] The pushing member has a slope and a groove, the opening of the groove faces the launching channel, the slope is located on the upper end surface of the pushing member, the lowest point of the slope is away from the groove, and the slope is used for sliding contact with the launching ring; wherein, the pushing member is at least partially made of elastic material.

[0016] In one embodiment, the cross-section of the groove is arc-shaped, and the length direction of the groove is arc-shaped, and the bottom wall of the groove is used to abut against the transmitting ring.

[0017] In one embodiment, the launch device further has two sets of adjustment mechanisms, both of which are mounted on the launch frame and hinged to the launch frame; the two sets of adjustment mechanisms are respectively located at the front ends of the two sets of launch mechanisms;

[0018] A launching port is formed between the adjusting mechanism and the launching mechanism, and the launching port is located at the front end of the launching channel and communicates with the launching channel; a launching angle is formed between the adjusting mechanism and the horizontal direction, and the upper end surface of the adjusting mechanism is used to contact the launching ring.

[0019] In one embodiment, the adjustment mechanism includes a servo, an adjustment seat, a roller, a fixed seat and a rotating shaft, the servo is installed on the launching frame, and the first end of the rotating shaft is installed on the output end of the servo, the fixed seat is installed on the launching frame, and the adjustment seat and the fixed seat are both provided with a through hole for the second end of the rotating shaft to pass through, the rotating shaft is fixed to the adjustment seat, the rotating shaft is rotatably connected to the fixed seat, and the adjustment seat is rotatably matched with the fixed seat via the rotating shaft, the roller is installed on the adjustment seat and rotatably matched with the adjustment seat, and the roller is located on the upper end surface of the adjustment seat.

[0020] The present invention also provides a robot, comprising a loading mechanism, a moving mechanism and a launching device as described above, wherein the loading mechanism and the launching device are both installed on the moving mechanism, the loading mechanism is used to load a launching ring, the bottom of the loading mechanism has an outlet, the launching ring located at the bottom of the loading mechanism is at least partially located at the outlet, the outlet is communicated with the launching channel, and the pushing mechanism of the launching device is arranged close to the outlet.

[0021] The present invention also provides a transmitting method, comprising the following steps:

[0022] Step 1: drive the pushing member of the pushing mechanism to move forward and move to the exit of the loading mechanism, so that the groove of the pushing member abuts against the outer wall of the launching ring;

[0023] Step 2: driving the pusher to move backward again, the launching ring is pushed into the launching channel by the pusher, and the launching belt is used to at least partially abut against the launching ring;

[0024] Step 3: Start the two sets of launching mechanisms. The driving member drives the launching belt to move in the horizontal direction. The launching belt moves forward to drive the launching ring to move quickly toward the launching port and shoot out from the launching port.

[0025] The technical solution provided by the present invention has the following advantages and effects:

[0026] 1. By installing a push mechanism on a launch rack and locating it between two groups of launch mechanisms, a launch channel is formed between the bottom of the launch mechanism and the upper end of the launch rack, thereby improving the compactness of the launch device structure. The push mechanism is used to push the launch ring in the loading mechanism onto the launch channel, so that the launch device completes the preparation work before launching. Moreover, a driving member is used to provide power for the launch assembly to drive the driving wheel to rotate. The driving wheel, the launch belt and the driven wheel form a launch mechanism. At least part of the launch belt is located on the launch channel, and at least part of the launch belt is used to contact the launch ring. When in use, the launch belt moves quickly, thereby using the friction between the launch belt and the launch ring to drive the launch ring to move forward, so that the launch ring has an initial acceleration at the exit of the launch channel, thereby realizing the launch operation of the launch device. During installation, the height of the launch channel is preset to ensure the friction coefficient between the launch belt and the launch ring. In the launch channel, the launch belt only needs to contact the launch ring without squeezing the launch ring. In each launch, the friction coefficient between the launch belt and the launch ring is consistent, which can ensure the initial acceleration of the launch ring leaving the launch channel each time, thereby making the launch speed of the launch device stable and reliable. If it is necessary to adjust the initial acceleration of the launch ring, it is only necessary to adjust the rotation speed of the driving part. The rotation speed adjustment range of the driving part is wide, thereby controlling the speed of movement of the launch belt, and then realizing the adjustment of the initial acceleration of the launch ring.

[0027] 2. The driven wheel or the driving wheel can be rotatably matched with the support frame through the connecting shaft, thereby driving the launch belt to move quickly. The end of the connecting shaft is installed in the bearing of the connecting block. The bearing is used to reduce the friction coefficient during the movement of the connecting shaft, increase the operating speed of the driving wheel or the driven wheel, and avoid work loss; moreover, the outer wall of the adjusting rod is threadedly matched with the inner wall of the connecting block, and the end of the adjusting rod away from the connecting block passes through the support frame and is connected to the adjusting cap. The adjusting cap is abutted against the support frame, and the adjusting cap is rotated to drive the adjusting rod to rotate, thereby adjusting the position of the connecting block on the adjusting rod, and moving the connecting block back and forth, thereby adjusting the position of the connecting shaft and the driven wheel, and adjusting the tension of the launch belt. Under the action of the tensioning assembly, a certain pre-tension is generated in the launching belt to prevent the launching belt from slipping on the driving wheel or the driven wheel; at the same time, the deflection of the launching belt between the driving wheel and the driven wheel is controlled to reduce the launching resistance; at the same time, when the launching belt is taut, at different positions, the friction coefficient between the launching belt and the launching ring is close or consistent, and the launching belt is always in contact with the launching ring during movement, thereby preventing the launching ring from slipping, and further making the launching speed of the launching device stable and reliable.

[0028] 3. In order to further improve the compactness and stability of the launching device, the supporting frame is composed of four first supporting plates connected end to end, the driving wheel and the driven wheel are located between the two first supporting plates arranged opposite to each other, and the connecting shaft is used to support the driving wheel and the driven wheel, thereby improving the stability of the driving wheel and the driven wheel during rotation; moreover, supporting blocks are respectively fixed to the two first supporting plates arranged opposite to each other, thereby improving the stability between the two first supporting plates arranged opposite to each other, and the supporting block is located between the two first supporting plates arranged opposite to each other. Such an arrangement allows the supporting block to enhance the stability of the supporting frame without occupying the space of the supporting frame, and the supporting block does not affect the movement of the launching belt, thereby improving the structural compactness of the supporting frame and the launching assembly; the supporting block is fixed to the second supporting plate through the connecting plate, the driving member is installed on the second supporting plate, and the bottom of the connecting plate is fixed to the launching frame, thereby improving the connection strength between the supporting frame and the launching frame.

[0029] 4. The launching belt is extended in the horizontal direction to move in the horizontal direction, thereby driving the launching ring to move quickly. The launching belt is arranged in the horizontal direction, so that the launching ring is placed horizontally in the launching channel, thereby improving the stability of the launching ring in the launching channel. If the launching direction is tilted upward, the launching resistance of the launching ring will inevitably increase due to the deadweight of the launching ring, and after the launching direction is tilted upward, it will be difficult to correct the launching angle of the launching ring subsequently, and its flexibility is greatly reduced. The launching stand is provided with a smooth strip, which is used to support the launching ring, thereby reducing the friction coefficient between the launching ring and the launching stand, reducing the resistance of the launching ring to move forward, and increasing the launching speed of the launching ring.

[0030] 5. The cylinder of this pushing mechanism drives the pushing member to move forward through the telescopic part, and the pushing member moves to the exit of the loading mechanism, and the pushing member has an inclined surface, the lowest point of the inclined surface is away from the groove, and since the pushing member is at least partially made of elastic material, the pushing member is squeezed by the launching ring during the movement, and the inclined surface is used to slide in contact with the launching ring to prevent the pushing member from being blocked by the launching ring, thereby guiding the groove to move to the outer wall of the launching ring, so that the groove abuts against the launching ring, and the cylinder is driven again to reset the pushing member, and drive the launching ring to move to the launching channel to complete the preparations for the launching operation.

[0031] 6. The cross-section of the groove is arc-shaped, and the length direction of the groove is arc-shaped. The bottom wall of the groove is used to abut against the launching ring. The inner arc surface of the groove in the length direction and the depth direction is used to fit with the outer arc surface of the launching ring, thereby increasing the contact area between the groove and the launching ring. When the pushing member pulls the launching ring, slipping is avoided, thereby improving the stability of the pushing member in pushing or pulling the launching ring.

[0032] 7. This adjustment mechanism is installed on the launch frame and is hinged to the launch frame. The adjustment mechanism is located at the front end of the launch mechanism. A launch port is formed between the adjustment mechanism and the launch mechanism, and the launch port is communicated with the launch channel. The adjustment mechanism is used to adjust the launch angle when the launch ring leaves the launch channel. A launch angle is formed between the adjustment mechanism and the horizontal direction. The upper end surface of the adjustment mechanism is used to contact the launch ring. The launch ring will pass through the adjustment mechanism after leaving the launch channel. Since the adjustment mechanism is hinged to the launch frame, the size of the launch angle can be adjusted, thereby adjusting the launch angle of the launch ring. The adjustment mechanism is used to correct the launch angle of the launch ring, while improving the flexibility of the launch device, increasing the strike range of the launch device, and improving the competitive level of the robot.

[0033] 8. This servo is installed on the launch frame, and the fixed seat is installed on the launch frame. The adjusting seat and the fixed seat are both provided with a through hole for the second end of the rotating shaft to pass through. The adjusting seat is rotatably matched with the fixed seat through the rotating shaft. The servo is used to drive the adjusting seat to rotate through the rotating shaft. After the adjusting seat rotates, the angle between its upper end face and the horizontal plane is adjusted, thereby adjusting the launch angle of the launch ring; the adjusting seat is provided with a roller, and the roller is used to reduce the friction coefficient between the launching ring and the upper end face of the adjusting seat, reduce the launching resistance of the launching ring through the adjusting seat, and increase the launching speed of the launching ring.

[0034] 9. The launching device is applied to the robot. The pushing mechanism of the launching device is arranged close to the exit of the loading mechanism. The loading mechanism supplements the launching ring for the launching device. The launching device and the loading mechanism cooperate with each other to improve the competitive level of the robot.

[0035] 10. This launching method is simple to operate. It only needs to use a pushing mechanism to push the launching ring into the launching channel, and then start the launching assembly to achieve launching. The two sets of launching mechanisms can improve the stability of the launching device, increase the force area of ​​the launching ring, and improve the launching speed of the launching ring. During operation, there is no need to deliberately squeeze the launching ring. It only needs the launching belt to contact the launching ring so that there is friction between the launching belt and the launching ring to achieve the launching action of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The structure of the transmitting device in one embodiment of the present invention is shown in FIG. Figure 1 .

[0037] Figure 2 The structure of the transmitting device in one embodiment of the present invention is shown in FIG. Figure 2 .

[0038] Figure 3 The structure of the launching mechanism in one embodiment of the present invention is shown in FIG. Figure 1 .

[0039] Figure 4 The structure of the launching mechanism in one embodiment of the present invention is shown in FIG. Figure 2 .

[0040] Figure 5 It is a structural schematic diagram of a pushing mechanism in one embodiment of the present invention.

[0041] Figure 6 It is a side view of a pushing mechanism in one embodiment of the present invention.

[0042] Figure 7 It is a structural schematic diagram of an adjustment mechanism in one embodiment of the present invention.

[0043] Figure 8 It is a schematic structural diagram of a robot in yet another embodiment of the present invention.

[0044] Description of reference numerals:

[0045] 100, launching device; 1, launching mechanism; 11, driving member; 12, supporting frame; 121, first supporting plate; 122, supporting block; 123, second supporting plate; 124, connecting plate; 13, launching assembly; 131, driving wheel; 132, launching belt; 133, driven wheel; 14, tensioning assembly; 141, connecting block; 142, adjusting rod; 143, adjusting cap; 15, connecting shaft; 2, pushing mechanism; 21, installation Seat; 22, cylinder; 23, telescopic part; 24, push piece; 241, inclined plane; 242, groove; 3, adjustment mechanism; 31, servo; 32, adjustment seat; 33, roller; 34, fixed seat; 35, rotating shaft; 36, launching port; 37, launching angle; 200, robot; 201, loading mechanism; 202, launching ring; 203, exit; 204, moving mechanism; 4, launching frame; 5, launching channel; 6, smooth strip. DETAILED DESCRIPTION

[0046] In order to facilitate the understanding of the present invention, specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings.

[0047] Unless otherwise specified or defined, the "first, second..." used in this article is merely used to distinguish names and does not represent a specific quantity or order.

[0048] Unless specifically stated or defined otherwise, the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0049] It should be noted that, in this document, “fixed to” or “connected to” may mean directly fixing or connecting to an element, or indirectly fixing or connecting to an element.

[0050] Embodiment 1

[0051] like Figures 1 to 6As shown, a launching device 100 includes a launching frame 4, a pushing mechanism 2 and two groups of launching mechanisms 1, the two groups of launching mechanisms 1 are respectively installed on both sides of the launching frame 4, and a launching channel 5 is formed between the bottom of the launching mechanism 1 and the upper end of the launching frame 4; the pushing mechanism 2 is installed on the launching frame 4 and is located between the two groups of launching mechanisms 1, and the pushing mechanism 2 is used to push the launching ring 202 so that the launching ring 202 moves to the launching channel 5; by installing the pushing mechanism 2 on the launching frame 4 and being located between the two groups of launching mechanisms 1, a launching channel 5 is formed between the bottom of the launching mechanism 1 and the upper end of the launching frame 4, the compactness of the structure of the launching device 100 is improved, and the pushing mechanism 2 is used to push the launching ring 202 in the loading mechanism 201 to the launching channel 5, so that the launching device 100 completes the preparation work before launching. The launching mechanism 1 includes a driving member 11, a supporting frame 12 and a launching assembly 13. The launching assembly 13 has a driving wheel 131, a launching belt 132 and a driven wheel 133. The supporting frame 12 is installed on the launching frame 4. The first end of the driving member 11 is installed on the supporting frame 12, and the second end of the driving member 11 is connected to the driving wheel 131; the driving wheel 131 is movably installed on the first end of the supporting frame 12, and the driven wheel 133 is movably installed on the second end of the supporting frame 12. The two ends of the launching belt 132 are respectively sleeved on the outside of the driving wheel 131 and the outside of the driven wheel 133, and at least a part of the launching belt 132 is located above the launching channel 5.

[0052] The driving member 11 is used to provide power for the launch assembly 13 and drive the driving wheel 131 to rotate. The driving wheel 131, the launch belt 132 and the driven wheel 133 form the launch mechanism 1. At least part of the launch belt 132 is located on the launch channel 5, and at least part of the launch belt 132 is used to contact the launch ring 202. When in use, the launch belt 132 moves quickly, so that the friction between the launch belt 132 and the launch ring 202 drives the launch ring 202 to move forward, so that the launch ring 202 has an initial acceleration at the exit of the launch channel 5, thereby realizing the launch operation of the launch device 100. During installation, the height of the launch channel 5 is preset to ensure the friction coefficient between the launch belt 132 and the launch ring 202. In the launch channel 5, the launch belt 132 only needs to contact the launch ring 202, so that there is a certain friction between the launch belt 132 and the launch ring 202. This friction contact is substantially different from the squeezing or clamping of the launch object in the prior art. This launch belt 132 does not need to squeeze the launch ring 202. In each launch, the friction coefficient of the launch belt 132 and the launch ring 202 is consistent, which can ensure the initial acceleration of the launch ring 202 leaving the launch channel 5 each time, so that the launch speed of the launch device 100 is stable and reliable; if it is necessary to adjust the initial acceleration of the launch ring 202, it is only necessary to adjust the rotation speed of the driver 11. In this embodiment, the driver 11 is a servo motor, which can control the speed, and the position accuracy is very accurate. It can convert the voltage signal into torque and rotation speed to drive the control object. The rotor speed of the servo motor is controlled by the input signal and can respond quickly. In the automatic control system, it is used as an actuator and has the characteristics of small electromechanical time constant and high linearity. It can convert the received electrical signal into angular displacement or angular velocity output on the motor shaft; the servo motor has a wide speed adjustment range, thereby controlling the speed of the launch belt 132, and then adjusting the initial acceleration of the launch ring 202.

[0053] like Figures 2 to 4 As shown, the launching mechanism 1 also has a tensioning assembly 14 and a connecting shaft 15. The driven wheel 133 or the driving wheel 131 is rotatably matched with the support frame 12 through the connecting shaft 15. The tensioning assembly 14 includes a connecting block 141, an adjusting rod 142 and an adjusting cap 143. The connecting block 141 has a bearing (not shown in the figure), and the end of the connecting shaft 15 is installed in the bearing; the driven wheel 133 or the driving wheel 131 can be rotatably matched with the support frame 12 through the connecting shaft 15, thereby driving the launching belt 132 to move quickly, and the end of the connecting shaft 15 is installed in the bearing of the connecting block 141. The bearing is used to reduce the friction coefficient during the movement of the connecting shaft 15, increase the operating speed of the driving wheel 131 or the driven wheel 133, and avoid work loss.

[0054] The adjusting rod 142 is at least partially located in the connecting block 141, and the inner wall of the connecting block 141 is threadedly matched with the outer wall of the adjusting rod 142. The end of the adjusting rod 142 away from the connecting block 141 passes through the support frame 12 and is connected to the adjusting cap 143, and the adjusting cap 143 abuts against the supporting frame 12. The outer wall of the adjusting rod 142 is threadedly matched with the inner wall of the connecting block 141, and the end of the adjusting rod 142 away from the connecting block 141 passes through the supporting frame 12 and is connected to the adjusting cap 143. The adjusting cap 143 is a nut, and the adjusting cap 143 abuts against the supporting frame 12. The adjusting cap 143 is rotated to drive the adjusting rod 142 to rotate, adjust the position of the connecting block 141 on the adjusting rod 142, and move the connecting block 141 back and forth, thereby adjusting the position of the connecting shaft 15 and the driven wheel 133, and adjusting the tension of the transmitting belt 132. Under the action of the tensioning assembly 14, a certain pre-tension is generated in the launch belt 132 to prevent the launch belt 132 from slipping on the driving wheel 131 or the driven wheel 133; at the same time, the deflection of the launch belt 132 between the driving wheel 131 and the driven wheel 133 is controlled to reduce the launch resistance; when the launch belt 132 is in a taut state, at different positions, the friction coefficient between the launch belt 132 and the launch ring 202 is close or consistent, and the launch belt 132 is always in contact with the launch ring 202 during movement, thereby preventing the launch ring 202 from slipping, and further making the launch speed of the launch device 100 stable and reliable.

[0055] like Figure 3 and Figure 4As shown, in order to further improve the compactness and stability of the launching device 100, the supporting frame 12 includes four first supporting plates 121, which are connected end to end, and the two ends of the connecting shaft 15 are respectively mounted on the two first supporting plates 121 arranged opposite to each other, and the driving wheel 131 and the driven wheel 133 are both located between the two first supporting plates 121 arranged opposite to each other; the supporting frame 12 also has a second supporting plate 123, a supporting block 122 and a connecting plate 124, the supporting blocks 122 are respectively fixed to the two first supporting plates 121 arranged opposite to each other, and the supporting block 122 is located between the two first supporting plates 121 arranged opposite to each other, the supporting block 122 is also fixed to one side of the connecting plate 124, and the other side of the connecting plate 124 is fixed to the first end of the second supporting plate 123, the driving member 11 is mounted on the second end of the second supporting plate 123, and the bottom of the connecting plate 124 is mounted on the launching frame 4. The connecting shaft 15 is used to support the rotation of the driving wheel 131 and the driven wheel 133, thereby improving the stability of the driving wheel 131 and the driven wheel 133 during rotation; moreover, the support blocks 122 are respectively fixed to the two first support plates 121 arranged opposite to each other, thereby improving the stability between the two first support plates 121 arranged opposite to each other, and the support block 122 is located between the two first support plates 121 arranged opposite to each other. With such a configuration, the support block 122 can enhance the stability of the support frame 12 without occupying the space of the support frame 12. The support block 122 is located in the launch belt 132, and the support block 122 does not affect the movement of the launch belt 132, thereby improving the structural compactness of the support frame 12 and the launch assembly 13; the support block 122 is fixed to the second support plate 123 through the connecting plate 124, the driving member 11 is installed on the second support plate 123, and the bottom of the connecting plate 124 is fixed to the launch frame 4, thereby improving the connection strength between the support frame 12 and the launch frame 4.

[0056] like Figure 3 and Figure 4 As shown, the launch belt 132 is extended in the horizontal direction, and the launch frame 4 has a smooth bar 6, which is located in the launch channel 5 and is used to support the launch ring 202. The launch belt 132 is extended in the horizontal direction, so that the launch belt 132 moves in the horizontal direction, thereby driving the launch ring 202 to move quickly. This launch belt 132 is set in the horizontal direction, and the launch ring 202 is also placed horizontally in the launch channel 5, which improves the stability of the launch ring 202 in the launch channel 5. If the launch direction is tilted upward, the launch resistance of the launch ring 202 will inevitably increase due to the deadweight of the launch ring 202. Moreover, after the launch direction is tilted upward, it is difficult to correct the launch angle of the launch ring 202 later, and its flexibility is greatly reduced. The launch frame 4 has a smooth bar 6, which is used to support the launch ring 202, thereby reducing the friction coefficient between the launch ring 202 and the launch frame 4, reducing the resistance of the launch ring 202 to move forward, and improving the launch speed of the launch ring 202.

[0057] In this embodiment, the smooth bar 6 is mainly used as a sliding track and a guide device, and it is flexible in rotation; the smooth bar 6 is a matching special track composed of steel sections and roller slideways.

[0058] like Figure 5 As shown, the pushing mechanism 2 includes a mounting seat 21, a cylinder 22, a telescopic portion 23 and a pushing member 24, the cylinder 22 is mounted on the top of the mounting seat 21, the bottom of the mounting seat 21 is mounted on the launching frame 4, the cylinder 22 is connected to the pushing member 24 through the telescopic portion 23; the pushing member 24 has a slope 241 and a groove 242, the opening of the groove 242 faces the launching channel 5, the slope 241 is located on the upper end surface of the pushing member 24, the lowest point of the slope 241 is away from the groove 242, and the slope 241 is used for sliding contact with the launching ring 202; wherein, the pushing member 24 is at least partially made of elastic material. The cylinder 22 of this pushing mechanism 2 drives the pushing member 24 to move forward through the telescopic part 23, and the pushing member 24 moves to the outlet 203 of the loading mechanism 201, and the pushing member 24 has a slope 241, and the lowest point of the slope 241 is far away from the groove 242. Since the pushing member 24 is at least partially made of elastic material, the pushing member 24 is squeezed by the launching ring 202 during the movement, and the slope 241 is used for sliding contact with the launching ring 202 to prevent the pushing member 24 from being blocked by the launching ring 202, thereby guiding the groove 242 to move to the outer wall of the launching ring 202, so that the groove 242 abuts against the launching ring 202, and the cylinder 22 is driven again to reset the pushing member 24, and drive the launching ring 202 to move to the launching channel 5, completing the preparation work for the launching operation.

[0059] In addition, the cross section of the groove 242 is in an arc shape, and the length direction of the groove 242 is in an arc shape, and the bottom wall of the groove 242 is used to abut against the launch ring 202. The inner arc surface of the groove 242 in the length direction and the depth direction is used to fit with the outer arc surface of the launch ring 202, thereby increasing the contact area between the groove 242 and the launch ring 202, and when the pusher 24 pulls the launch ring 202, the launch ring 202 is prevented from slipping, thereby improving the stability of the pusher 24 in pushing or pulling the launch ring 202.

[0060] like Figure 2 and Figure 6As shown, the launching device 100 also has two groups of adjusting mechanisms 3, both of which are installed on the launching frame 4 and hinged to the launching frame 4; the two groups of adjusting mechanisms 3 are respectively located at the front ends of the two groups of launching mechanisms 1; a launching port 36 is formed between the adjusting mechanism 3 and the launching mechanism 1, and the launching port 36 is located at the front end of the launching channel 5 and communicates with the launching channel 5; a launching angle 37 is formed between the adjusting mechanism 3 and the horizontal direction, and the upper end surface of the adjusting mechanism 3 is used to contact the launching ring 202. The adjusting mechanism 3 is used to adjust the launching angle of the launching ring 202 when it leaves the launching channel 5. A launching angle 37 is formed between the adjusting mechanism 3 and the horizontal direction. The upper end surface of the adjusting mechanism 3 is used to contact the launching ring 202. The launching ring 202 will pass through the adjusting mechanism 3 after leaving the launching channel 5. Since the adjusting mechanism 3 is hinged to the launching frame 4, the size of the launching angle 37 can be adjusted, thereby adjusting the launching angle of the launching ring 202. The adjusting mechanism 3 is used to correct the launching angle of the launching ring 202, and at the same time improve the flexibility of the launching device 100, so that the striking range of the launching device 100 is increased, and the competitive level of the robot 200 is improved.

[0061] like Figure 7 As shown, the adjustment mechanism 3 includes a steering gear 31, an adjustment seat 32, a roller 33, a fixed seat 34 and a rotating shaft 35. The steering gear 31 is installed on the launching frame 4, and the first end of the rotating shaft 35 is installed on the output end of the steering gear 31. The fixed seat 34 is installed on the launching frame 4, and the adjusting seat 32 and the fixed seat 34 are both provided with a through hole for the second end of the rotating shaft 35 to pass through. The rotating shaft 35 is fixed to the adjusting seat 32, the rotating shaft 35 is rotatably connected to the fixed seat 34, and the adjusting seat 32 is rotatably matched with the fixed seat 34 through the rotating shaft 35. The roller 33 is installed on the adjusting seat 32 and rotatably matched with the adjusting seat 32. The roller 33 is located on the upper end surface of the adjusting seat 32. The adjusting seat 32 is rotatably matched with the fixing seat 34 via the rotating shaft 35, and the servo 31 is used to drive the adjusting seat 32 to rotate via the rotating shaft 35. After the adjusting seat 32 rotates, the angle between its upper end surface and the horizontal plane is adjusted, thereby adjusting the launch angle 37 of the launching ring 202. The adjusting seat 32 is provided with a roller 33, and the roller 33 is used to reduce the friction coefficient between the launching ring 202 and the upper end surface of the adjusting seat 32, reduce the launching resistance of the launching ring 202 through the adjusting seat 32, and increase the launching speed of the launching ring 202.

[0062] The launching principle of this launching device 100 is as follows: the pushing mechanism 2 pushes the launching ring 202 into the launching channel 5, so that the launching ring 202 is located between the fluent belt 6 and the launching belt 132, and the launching belt 132 at least partially abuts or contacts the launching ring 202. The driving member 11 drives the launching belt 132 to move quickly through the driving wheel 131 and the driven wheel 132, and the launching belt 132 drives the launching ring 202 to move in the launching channel 5. When the launching ring 202 moves out of the launching channel 5, the launching ring 202 will obtain an initial acceleration, and the launching ring 202 will be launched out of the launching channel 5, thereby realizing the launching of the launching device 100.

[0063] Embodiment 2

[0064] like Figure 8 As shown, the present invention further provides a robot 200, comprising a loading mechanism 201, a moving mechanism 204, and the launching device 100 as described above. The loading mechanism 201 and the launching device 100 are both mounted on the moving mechanism 204. The loading mechanism 201 is used to load the launching ring 202. The bottom of the loading mechanism 201 has an outlet 203. The launching ring 202 located at the bottom of the loading mechanism 201 is at least partially located at the outlet 203. The outlet 203 is communicated with the launching channel 5. The pushing mechanism 2 of the launching device 100 is arranged near the outlet 203. The launching device 100 is applied to the robot 200. The pushing mechanism 2 of the launching device 100 is arranged near the outlet 203 of the loading mechanism 201. The loading mechanism 201 supplements the launching ring 202 for the launching device 100. The launching device 100 and the loading mechanism 201 cooperate with each other to improve the competitive level of the robot 200.

[0065] In this embodiment, the frame 4 is L-shaped, and the vertical direction of the bracket 4 is used to fix to the loading mechanism 201, the horizontal upper end surface of the bracket 4 is used to fix to the launching device 100, and the horizontal lower end surface of the bracket 4 is used to fix to the moving mechanism 204. This arrangement makes the structure of the robot 200 more compact and realizes a more miniaturized robot 200.

[0066] like Figures 1 to 8 As shown, the present invention also provides a transmitting method, comprising the following steps:

[0067] Step 1: drive the pushing member 24 of the pushing mechanism 2 to move forward and move to the exit 203 of the loading mechanism 201, so that the groove 242 of the pushing member 24 abuts against the outer wall of the launching ring 202;

[0068] Step 2: drive the pusher 24 to move backward again, the launching ring 202 is pushed into the launching channel 5 by the pusher 24, and the launching belt 132 is used to at least partially abut against the launching ring 202;

[0069] Step 3, start the two sets of launching mechanisms 1, the driving member 11 drives the launching belt 132 to move in the horizontal direction, and the launching belt 132 moves forward to drive the launching ring 202 to move quickly toward the launching port 36, and then the launching ring 202 is launched from the launching port 36.

[0070] Before starting the launch mechanism 1, the angle between the upper end surface of the adjustment seat 32 and the horizontal plane can be adjusted by starting the steering gear 31 to adjust the launch angle 37 of the launch ring 202. This launch method is simple to operate. It only needs to use the pushing mechanism 2 to push the launch ring 202 into the launch channel 5, and then start the launch assembly 13 to achieve launch. The stability of the launch device 100 is improved by two sets of launch mechanisms 1, the force-bearing area of ​​the launch ring 202 is increased, and the launch speed of the launch ring 202 is increased. In operation, there is no need to deliberately squeeze the launch ring 202. It only needs the launch belt 132 to contact the launch ring 202 so that there is friction between the launch belt 132 and the launch ring 202 to achieve the launch action of the robot 200.

[0071] The above embodiments are not exhaustive enumerations of the present invention, and there may be multiple other implementations not listed. Any replacement and improvement made without violating the concept of the present invention shall fall within the protection scope of the present invention.

Claims

1. A launching device, characterized in that: It comprises a launching frame, a pushing mechanism and two groups of launching mechanisms, the two groups of launching mechanisms are respectively installed on both sides of the launching frame, and a launching channel is formed between the bottom of the launching mechanism and the upper end of the launching frame; the pushing mechanism is installed on the launching frame and is located between the two groups of launching mechanisms, and the pushing mechanism is used to push the launching ring so that the launching ring moves to the launching channel; The launching mechanism comprises a driving member, a support frame and a launching assembly, wherein the launching assembly comprises a driving wheel, a launching belt and a driven wheel, the supporting frame is mounted on the launching frame, the first end of the driving member is mounted on the supporting frame, and the second end of the driving member is connected to the driving wheel; The driving wheel is movably mounted on the first end of the support frame, the driven wheel is movably mounted on the second end of the support frame, the two ends of the launch belt are respectively sleeved on the outside of the driving wheel and the outside of the driven wheel, and at least a part of the launch belt is located above the launch channel; The pushing mechanism comprises a mounting seat, a cylinder, a telescopic part and a pushing member, wherein the cylinder is mounted on the top of the mounting seat, the bottom of the mounting seat is mounted on the launching frame, and the cylinder is connected to the pushing member through the telescopic part; The push member has an inclined surface and a groove, the opening of the groove faces the launch channel, the inclined surface is located on the upper end surface of the push member, the lowest point of the inclined surface is away from the groove, and the inclined surface is used for sliding contact with the launch ring; wherein, the push member is at least partially made of elastic material; The launching device also has two groups of adjusting mechanisms, both of which are installed on the launching frame and hinged with the launching frame; the two groups of adjusting mechanisms are respectively located at the front ends of the two groups of launching mechanisms.

2. The transmitting device according to claim 1, characterized in that The launching mechanism also has a tensioning assembly and a connecting shaft, the driven wheel or the driving wheel is rotatably matched with the support frame through the connecting shaft, the tensioning assembly includes a connecting block, an adjusting rod and an adjusting cap, the connecting block has a bearing, and the end of the connecting shaft is installed in the bearing; The adjusting rod is at least partially located in the connecting block, and the inner wall of the connecting block is threadedly matched with the outer wall of the adjusting rod. One end of the adjusting rod away from the connecting block passes through the supporting frame and is connected to the adjusting cap, and the adjusting cap abuts against the supporting frame.

3. The transmitting device according to claim 2, characterized in that The support frame includes four first support plates, the four first support plates are connected end to end, the two ends of the connecting shaft are respectively mounted on two first support plates arranged opposite to each other, and the driving wheel and the driven wheel are both located between the two first support plates arranged opposite to each other; The support frame also has a second support plate, a support block and a connecting plate. The support blocks are respectively fixed to the two first support plates that are oppositely arranged, and the support block is located between the two first support plates that are oppositely arranged. The support block is also fixed to one side of the connecting plate, and the other side of the connecting plate is fixed to the first end of the second support plate. The driving member is installed at the second end of the second support plate, and the bottom of the connecting plate is installed on the launching frame.

4. The transmitting device according to claim 1, characterized in that The launch belt is extended in the horizontal direction, and the launch frame is provided with a smooth bar, the smooth bar is located in the launch channel, and the smooth bar is used to support the launch ring.

5. The transmitting device according to claim 1, characterized in that: The cross section of the groove is in an arc shape, and the length direction of the groove is in an arc shape, and the bottom wall of the groove is used to abut against the transmitting ring.

6. The transmitting device according to any one of claims 1 to 4, characterized in that: A launching port is formed between the adjusting mechanism and the launching mechanism, and the launching port is located at the front end of the launching channel and communicates with the launching channel; a launching angle is formed between the adjusting mechanism and the horizontal direction, and the upper end surface of the adjusting mechanism is used to contact the launching ring.

7. The transmitting device according to claim 6, characterized in that The adjustment mechanism includes a steering gear, an adjustment seat, a roller, a fixed seat and a rotating shaft. The steering gear is installed on the launching frame, and the first end of the rotating shaft is installed on the output end of the steering gear. The fixed seat is installed on the launching frame, and the adjustment seat and the fixed seat are both provided with a through hole for the second end of the rotating shaft to pass through. The rotating shaft is fixed to the adjustment seat, the rotating shaft is rotatably connected to the fixed seat, and the adjustment seat is rotatably matched with the fixed seat through the rotating shaft. The roller is installed on the adjustment seat and rotatably matched with the adjustment seat. The roller is located on the upper end surface of the adjustment seat.

8. A robot, characterized in that It comprises a loading mechanism, a moving mechanism and a launching device as claimed in any one of claims 1 to 7, wherein the loading mechanism and the launching device are both mounted on the moving mechanism, the loading mechanism is used for loading a launching ring, the bottom of the loading mechanism has an outlet, the launching ring located at the bottom of the loading mechanism is at least partially located at the outlet, the outlet is communicated with a launching channel, and the pushing mechanism of the launching device is arranged close to the outlet.

9. A launching method based on the launching device according to claim 1, characterized in that , including the following steps: The pushing member of the pushing mechanism is driven to move forward and move to the exit of the loading mechanism, where the groove of the pushing member abuts against the outer wall of the launching ring; The pushing member is driven to move backward again, and the launching ring is pushed into the launching channel by the pushing member, and the launching belt is used to at least partially abut against the launching ring; The two groups of launching mechanisms are started, and the driving member drives the launching belt to move in the horizontal direction. The launching belt moves forward to drive the launching ring to move quickly toward the launching port and is launched from the launching port.

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