A robot for performing a projection training of a ring

Abstract

The application provides a robot for ring projection training, which comprises a rack, a moving module, a launching mechanism and a carrying mechanism, wherein the moving module is arranged at the bottom of the rack, the rack is provided with a holder in the center, the launching mechanism is arranged at one end of the holder, and the carrying mechanism is arranged at the other end of the holder, the carrying mechanism comprises a carrying support, a carrying moving module, a carrying lifting module and a clamping device, the carrying support is arranged at the other end of the holder through the carrying moving module, the carrying lifting module is arranged on the carrying support, the clamping device is arranged on the carrying lifting module, the carrying moving module drives the carrying lifting module to move horizontally, and the carrying lifting module drives the clamping device to move vertically; the ring is opened by the clamping device, and the elastic deformation of the ring enables the ring to better adhere to the tensioning claw plate, so that the ring is fixed.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a robot for training to project onto a ring-shaped object. Background Technology

[0002] Robotics is considered "the highest level of automation in the modern era," and its ever-increasing intelligence is a prominent feature of contemporary robot development. Today, humans are delegating more and more tasks to robots; therefore, in the design process of robots, an increasing number of functions are being required and configured.

[0003] With the continuous advancement of robotics technology, various robots have appeared in the public eye, and robot sports competitions have become an indispensable part of robotics events.

[0004] The theme of the 2023 ABU Robocon competition was for a rabbit robot and an elephant robot to collaborate in scattering flowers over Angkor Wat. The actual competition was a "ring toss game," using rings made of blue and red rubber hoses instead of flowers.

[0005] However, since the rings used in the competition are made of rubber, they are relatively soft. If you use too much force when clamping them, the rings may deform and become unable to be clamped. If you don't use enough force, you may not be able to clamp the rings at all, which can affect the entire ring-throwing operation. Summary of the Invention

[0006] This invention provides a robot for projecting onto ring-shaped objects, which can utilize the elastic deformation characteristics of the ring to achieve more stable grasping of the ring.

[0007] To achieve the above objectives, the technical solution of the present invention is: a robot for projecting training on ring-shaped objects, comprising a frame, a moving module, a launching mechanism and a transporting mechanism on the frame, a moving module at the bottom of the frame, a gimbal at the center of the frame, the launching mechanism at one end of the gimbal, and a transporting mechanism at the other end of the gimbal.

[0008] The launching mechanism includes a launching base, a launching tray, and a launching drive device. The launching drive device includes a drive component, a launching spring, and a release component. The launching base is located at one end of the gimbal. The drive component is located on the launching base, the launching spring is located on the launching base, the launching tray is located on the launching spring, and the release component is located below the launching base. The drive component drives the release component to compress the launching spring, and the release component restricts the setting of the compressed launching spring.

[0009] The transport mechanism includes a transport bracket, a transport moving module, a transport lifting module, and a clamping device. The transport bracket is set at the other end of the gimbal via the transport moving module. The transport lifting module is mounted on the transport bracket. The clamping device is mounted on the transport lifting module. The transport moving module drives the transport lifting module to move laterally, and the transport lifting module drives the clamping device to move up and down. The clamping device includes a tension drive motor, a tensioning component, and a clamping bracket, which is mounted on the transport lifting module.

[0010] The tensioning assembly includes a tensioning drive screw, a tensioning connecting plate, a tensioning connecting rod, and a tensioning claw plate. The tensioning drive motor is mounted on the clamping bracket, and the tensioning drive screw is mounted on the drive shaft of the tensioning drive motor. The tensioning connecting plate is mounted on the tensioning drive screw via a tensioning slider. The top end of the tensioning claw plate is slidably mounted on the clamping bracket via a claw plate slider. One end of the tensioning connecting rod is hinged to the tensioning connecting plate, and the other end of the tensioning connecting rod is hinged to the tensioning claw plate. The tensioning claw plate and the tensioning connecting plate are interconnected via the tensioning connecting rod to form a parallelogram linkage structure. The tensioning drive motor drives the tensioning claw plate to open the ring for fixation.

[0011] The above structure, through the inclusion of a transport mechanism, automatically grips and transports the rings, reducing the workload of participants. When gripping the rings, the tensioning component extends into the stack of rings, and the tensioning motor drives the tensioning drive screw to rotate, causing the tensioning connecting plate mounted on the tensioning slider to move up and down. Since the top of the tensioning claw plate is slidably mounted on the gripping bracket, the movement of the tensioning connecting plate, through the linkage structure, causes the tensioning claw plate to slide outward along the gripping bracket. This opens the ring, and the ring's elastic deformation allows it to better adhere to the tensioning claw plate for fixation. The included moving module allows the ring-throwing robot to move to different positions for throwing. When throwing a ring, the transport mechanism places the ring onto the launch tray, the drive component compresses the launch spring, and the release component releases the spring's force, thus launching the ring. The structure is simple and reliable.

[0012] Furthermore, the drive assembly includes a release drive motor, a release drive driving wheel, a release drive driven wheel, a release drive screw, a release base, a release slider, and a release screw nut. A release drive motor is located at one end of the launch base, and a release drive driving wheel is located on the drive shaft of the release drive motor. A release drive driven wheel, meshing with the release drive driving wheel, is located at one end of the launch base. One end of the release drive screw is connected to the release drive driven wheel, and the other end of the release drive screw is located at the other end of the launch base via a release screw bearing. A release screw nut is located on the release drive screw, and a release guide rail is located on the launch base. The release base is slidably mounted on the release guide rail via a release slider. The release base is also connected to the release screw nut, and a release assembly is located on the release base, the release assembly restricting the launch spring.

[0013] This configuration involves using a release drive motor to rotate the release drive screw, which in turn moves the release base mounted on the release slider. This, in turn, compresses the launch spring via the release assembly, thereby providing power for the launch of the ring. The structure is simple and reliable.

[0014] Furthermore, the release assembly includes a release plate, a release connecting plate, and a release trigger plate. The center of the release connecting plate is rotatably disposed at the center of one end of the release base via a first connecting shaft. A second connecting shaft is disposed at the center of the other end of the release base. The release trigger plate is rotatably disposed on the second connecting shaft. The release trigger plate is in contact with one end of the release connecting plate. A third connecting shaft is disposed at the other end of the release connecting plate. The release plate is rotatably disposed on the third connecting shaft. A first spring is disposed between the other ends of the release plate and the release connecting plate. A second spring is disposed between the release connecting plate and the release base. A third spring is disposed between the release trigger plate and the release base. The third spring drives the release trigger plate to abut against the trigger connecting plate. The second spring drives the trigger connecting plate to press the release trigger plate, thereby mutually restricting and fixing the release trigger plate and the release connecting plate. The release plate is in contact with the release spring.

[0015] This design restricts and locks the launching spring by releasing the locking plate, thereby compressing the launching spring under the drive of the release motor. The structure is simple and effective.

[0016] Furthermore, a release limiting groove is provided below the other end of the release connecting plate, and a release limiting rod corresponding to the release limiting groove is provided at the bottom of the release plate. The first spring pulls the release plate downward to swing it so that the release limiting rod abuts against the release limiting groove. Thus, by setting the release limiting groove, the release plate is fixed by the release connecting plate, facilitating the release plate's restriction of the launching spring.

[0017] Furthermore, a release slot is provided on the release trigger plate, and a release thrust bearing corresponding to the release slot is provided at one end of the release connecting plate. The third spring drives the release trigger plate to swing downward so that the release slot abuts against the release thrust bearing. The second spring drives the trigger connecting plate to swing downward so that the release thrust bearing presses down on the bottom of the release slot.

[0018] This design secures the release thrust bearing via the release slot, and the second and third springs ensure that the release trigger plate and the release connecting plate remain mutually restrained to achieve rigid balance. This allows the release trigger plate, release connecting plate, and release card plate to remain in a fixed state, enabling the release assembly to compress the launch spring. The structure is simple and stable.

[0019] Furthermore, a release adjustment assembly is also provided on the launch base. The release adjustment assembly includes a release adjustment motor, a release adjustment lead screw, a release adjustment drive wheel, a release adjustment driven wheel, a release adjustment lead screw nut, a release adjustment slider, a release adjustment guide rail, and a release adjustment rod. The release adjustment motor is located at one end of the launch base. A release adjustment drive wheel is located on the drive shaft of the release adjustment motor. A release adjustment driven wheel that meshes with the release adjustment drive wheel is located at one end of the launch base. One end of the release adjustment lead screw is connected to the release adjustment driven wheel. The other end of the release adjustment lead screw is located at the other end of the launch base through a release adjustment bearing. A release adjustment lead screw nut is located on the release adjustment lead screw. A release adjustment guide rail is located on the launch base. The release adjustment rod is slidably mounted on the release adjustment guide rail through the release adjustment slider. The release adjustment rod is also connected to the release adjustment lead screw nut. The release adjustment rod is in contact with the release trigger plate.

[0020] This configuration involves a release adjustment motor driving a release adjustment screw to rotate, which in turn moves a release adjustment rod mounted on the release adjustment screw nut along the length of the launching base. Once the position of the release adjustment rod is adjusted, the release drive motor moves the release assembly and compresses the launching spring. When the release trigger plate contacts the release adjustment rod, the release assembly continues to move, while the release trigger plate is blocked by the release adjustment rod and cannot move. The release adjustment rod then drives the release trigger plate to swing upward around the second connecting shaft, which in turn pushes the release connecting plate upward. This disrupts the rigid balance between the release trigger plate and the release connecting plate, causing the release trigger plate to swing upward, which in turn drives the release locking plate to swing forward. This causes the release locking plate to disengage from the launching spring, releasing the spring force and launching the ring. By adjusting the position of the release adjustment rod, the compression of the launching spring can be controlled to adjust the launching distance of the ring, facilitating ring throwing in various scenarios during competitions.

[0021] Furthermore, the clamping device also includes a clamping mounting frame, an angle adjustment module, and a pushing component. The clamping mounting frame is mounted on the transport and lifting module, the angle adjustment module is mounted on the clamping mounting frame, and a clamping bracket is provided on the angle adjustment module. The angle adjustment module drives the clamping bracket to swing up and down. The tensioning component is located below the clamping bracket, and a pushing component is provided on the clamping bracket. The tensioning component extends into the center of the ring and expands the ring. The ring is a rubber ring, and the tensioning component expands the ring to make the ring shape change, thereby achieving fixation.

[0022] This configuration allows the tensioning component to extend into and expand the stacked rings, thereby tensioning and fixing the rings. When it is necessary to lower the rings, the pushing component presses downwards from the top ring, thereby pushing the bottom ring away from the tensioning component. This allows the stacked rings to be separated one by one from the bottom ring, facilitating launch.

[0023] Furthermore, the tensioning assembly comprises three components arranged in a ring on the clamping bracket. The tensioning assembly also includes a synchronous driving pulley, a synchronous driven pulley, and a synchronous belt. The drive shaft of the tensioning drive motor is provided with a synchronous driving pulley. A tensioning screw of one tensioning assembly is connected to the synchronous driving pulley. The synchronous driven pulley is rotatably mounted on the clamping bracket via a driven pulley bearing. A tensioning screw is provided on the synchronous driven pulley. The synchronous belt is wound between the synchronous driving pulley and the synchronous driven pulley.

[0024] This configuration, by setting a synchronous belt and driving the synchronous drive pulley to rotate via a tensioning drive motor, can drive the synchronous belt to rotate, thereby driving the tensioning screw connected to the synchronous driven pulley to rotate. This allows one tensioning drive motor to drive three tensioning components to operate, resulting in a simple and reliable structure.

[0025] Furthermore, the pushing assembly includes a pushing motor, a pushing screw, a pushing slider, and a pushing plate. The pushing motor is mounted on the clamping bracket. One end of the pushing screw is connected to the drive shaft of the pushing motor, and the other end of the pushing screw is provided with a pushing bearing. The inner ring of the pushing bearing is connected to the pushing screw, and the outer ring of the pushing bearing is provided with a pushing connecting plate. A guide shaft is located between the clamping bracket and the pushing connecting plate. The pushing slider is mounted on the pushing screw, and a pushing base plate is mounted on the pushing slider. The pushing base plate is also mounted on the guide shaft and slides up and down along the guide shaft. A pushing plate is mounted on the pushing base plate, and the pushing plate presses down on the ring. Therefore, when a ring needs to be placed, the pushing motor drives the pushing screw to rotate, thereby driving the pushing plate to move downwards. This allows the ring at the top of the tensioning assembly to be placed, thus squeezing the bottom ring out of the tensioning assembly. Each time, the pushing motor drives the pushing slider to move downwards by the thickness of one ring, ensuring that one ring is squeezed out each time, thus facilitating the individual transport of the rings.

[0026] Furthermore, a spring guide shaft is provided on the launching base, and a spring guide plate that slides along the length direction of the spring guide shaft is provided on the spring guide shaft. A launching spring is provided on the spring guide shaft between the spring guide plate and one end of the launching base. The release plate is in contact with the spring guide plate. With this configuration, the spring guide plate can be moved along the length direction of the spring guide shaft by the release component, thereby compressing the launching spring. The structure is simple and effective. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the training robot of the present invention.

[0028] Figure 2 This is a side view of the launching mechanism of the present invention.

[0029] Figure 3 This is a schematic diagram of the structure of the driving component of the present invention.

[0030] Figure 4 This is a schematic diagram of the release component of the present invention.

[0031] Figure 5 This is the front view of the release component of the present invention.

[0032] Figure 6 This is a structural schematic diagram of the release component of the present invention from the bottom view.

[0033] Figure 7 A schematic diagram of the release adjustment component of the present invention.

[0034] Figure 8 This is a schematic diagram of the transport mechanism of the present invention.

[0035] Figure 9 This is a schematic diagram of the clamping device of the present invention.

[0036] Figure 10 This is a schematic diagram of the tensioning component of the present invention in the open state.

[0037] Figure 11 This is a schematic diagram of the push component of the present invention. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1 to 11 As shown, a robot for training projection onto a ring-shaped object includes a frame 1. A moving module 11, a launching mechanism 2, and a transport mechanism 3 are mounted on the frame 1. The moving module 11 is located at the bottom of the frame 1, and a gimbal (not shown) is located at the center of the frame 1. The launching mechanism 2 is located at one end of the gimbal, and the transport mechanism 3 is located at the other end of the gimbal. In this embodiment, both the moving module and the gimbal are devices used to drive the device to move in multiple directions or rotate at multiple angles; their specific details are existing technology and will not be elaborated upon here.

[0040] like Figure 2 and Figure 3 As shown, the launching mechanism 2 includes a launching base 21, a launching tray 22, and a launching drive device 4. The launching drive device 4 includes a drive assembly 41, a launching spring 42, and a release assembly 6. The launching base 21 is located at one end of the gimbal. The drive assembly 41 is located on the launching base 21, the launching spring 42 is located on the launching base 21, the launching tray 22 is located on the launching spring 42, and the release assembly is located below the launching base. The drive assembly 41 drives the release assembly 6 to compress the launching spring 42, and the release assembly 6 restricts the setting of the compressed launching spring.

[0041] like Figure 2 and Figure 3As shown, the drive assembly 41 includes a release drive motor 411, a release drive driving wheel 412, a release drive driven wheel 413, a release drive screw 414, a release base 415, a release slider 416, and a release screw nut 417. The release drive motor 411 is located at one end of the launch base 21. The release drive driving wheel 412 is mounted on the drive shaft of the release drive motor 411. The release drive driven wheel 413, which meshes with the release drive driving wheel 412, is located at one end of the launch base 21. One end of the release drive screw 414... The release drive driven wheel 413 is connected, and the other end of the release drive screw 414 is set at the other end of the launch base 21 through a release screw bearing (not shown in the figure). A release screw nut 417 is provided on the release drive screw 414, and a release guide rail 418 is provided on the launch base 21. The release base 415 is slidably set on the release guide rail 418 through a release slider 416. The release base 415 is also connected to the release screw nut 417. A release assembly 6 is provided on the release base 415, and the release assembly 6 restricts the launch spring.

[0042] With this configuration, the release drive motor 411 drives the release drive screw 414 to rotate, thereby moving the release base 415 set on the release slider 416. This, in turn, drives the release spring 42 to compress via the release assembly 6, thus providing power for the release of the ring. The structure is simple and reliable.

[0043] like Figure 4 and Figure 5 As shown, the release assembly 6 includes a release locking plate 61, a release connecting plate 62, and a release trigger plate 63. The center of the release connecting plate 62 is rotatably disposed at the center of one end of the release base 415 via a first connecting shaft 64. A second connecting shaft 65 is disposed at the center of the other end of the release base 415. The release trigger plate 63 is rotatably disposed on the second connecting shaft 65 and is in contact with one end of the release connecting plate 62. A third connecting shaft 66 is disposed at the other end of the release connecting plate 62, and the release locking plate 61 is rotatably disposed on the third connecting shaft. On plate 66, a first spring 601 is provided between the other end of the release plate 61 and the release connecting plate 62, a second spring 602 is provided between the release connecting plate 62 and the release base 415, and a third spring 603 is provided between the release trigger plate 63 and the release base 415. The third spring 603 drives the release trigger plate 63 to abut against the trigger connecting plate 62, and the second spring 602 drives the trigger connecting plate 62 to press the release trigger plate 63 so that the release trigger plate 63 and the release connecting plate 62 mutually restrict and fix each other. The release plate 61 is in contact with the launching spring 42.

[0044] This design restricts and locks the launching spring 42 by releasing the locking plate 61, thereby compressing the launching spring 42 under the drive of the release drive motor 411. The structure is simple and effective.

[0045] like Figure 6 As shown, a release limiting groove 621 is provided below the other end of the release connecting plate 62, and a release limiting rod 611 corresponding to the release limiting groove 621 is provided at the bottom of the release clamping plate 61. The first spring 601 pulls the release clamping plate 31 to swing downward, causing the release limiting rod 611 to abut against the release limiting groove 621. Thus, by setting the release limiting groove 621, the release clamping plate 61 is fixed by the release connecting plate 62, facilitating the release clamping plate 61 to limit the launching spring 42.

[0046] like Figure 5 As shown, a release slot 631 is provided on the release trigger plate 63, and a release thrust bearing 622 corresponding to the release slot 631 is provided at one end of the release connecting plate 62. The third spring 603 drives the release trigger plate 63 to swing downward so that the release slot 631 abuts against the release thrust bearing 622. The second spring 602 drives the trigger connecting plate 62 to swing downward so that the release thrust bearing 622 presses the bottom of the release slot 631.

[0047] This configuration allows the release thrust bearing 622 to be fixed via the release slot 631, and the release trigger plate 63 and release connecting plate 62 to maintain mutual restraint and achieve rigid balance through the action of the second spring 602 and the third spring 603. This ensures that the release trigger plate 63, release connecting plate 62 and release slot 61 remain in a fixed state, thereby enabling the release spring 42 to be compressed via the release assembly 6. The structure is simple and stable.

[0048] like Figure 2 and 7As shown, a release adjustment assembly 7 is also provided on the launch base 21. The release adjustment assembly 7 includes a release adjustment motor 71, a release adjustment lead screw 72, a release adjustment drive wheel 73, a release adjustment driven wheel 74, a release adjustment lead screw nut 75, a release adjustment slider 76, a release adjustment guide rail 77, and a release adjustment rod 78. The release adjustment motor 71 is located at one end of the launch base 21. The release adjustment drive wheel 73 is located on the drive shaft of the release adjustment motor 71, and a release adjustment driven wheel 74 is located at one end of the launch base 21, meshing with the release adjustment drive wheel 73. The release adjusting screw 72 is connected to the release adjusting driven wheel 74 at one end, and the other end of the release adjusting screw 72 is set at the other end of the launching base 21 through the release adjusting bearing 721. The release adjusting screw 72 is provided with a release adjusting screw nut 75, and the launching base 21 is provided with a release adjusting guide rail 77. The release adjusting rod 78 is slidably set on the release adjusting guide rail 77 through the release adjusting slider 76. The release adjusting rod 78 is also connected to the release adjusting screw nut 75, and the release adjusting rod 78 is in contact with the release trigger plate 63.

[0049] Therefore, the release adjusting motor 71 drives the release adjusting screw 72 to rotate, thereby causing the release adjusting rod 78, which is mounted on the release adjusting screw nut 75, to move along the length of the launching base 21. After the position of the release adjusting rod 78 is adjusted, the release drive motor 411 drives the release assembly 6 to move and compress the launching spring 42. When the release trigger plate 63 contacts the release adjusting rod 78, the release assembly 6 continues to move, while the release trigger plate 63 is blocked by the release adjusting rod 78 and cannot move. Thus, the release adjusting rod 78 drives the release trigger plate 63 to move around the second connecting shaft 65. The fulcrum swings upward, which in turn pushes the release connecting plate 62 to swing upward, thereby disrupting the rigid balance between the release trigger plate 63 and the release connecting plate 62. This causes the release trigger plate 63 to drive the release connecting plate 62 to swing upward, which in turn drives the release locking plate 61 to swing forward, causing the release locking plate 61 to disengage from the launch spring 42. This releases the elastic force of the launch spring 42, thus launching the ring. By adjusting the position of the release adjusting rod 78, the compression degree of the launch spring 42 can be controlled to adjust the launch distance of the ring, facilitating ring throwing in various scenarios during the competition.

[0050] like Figure 2As shown, a spring guide shaft 421 is also provided on the launching base 21. A spring guide plate 422 that slides along the length direction of the spring guide shaft 421 is provided on the spring guide shaft 421. A launching spring 42 is provided on the spring guide shaft 421 between the spring guide plate 421 and one end of the launching base 21. The release plate 41 is in contact with the spring guide plate 422. With this configuration, the spring guide plate 422 can be moved along the length direction of the spring guide shaft 421 by the release component 6, thereby compressing the launching spring 42. The structure is simple and effective.

[0051] like Figure 8 As shown, the transport mechanism 3 includes a transport bracket 31, a transport moving module 32, a transport lifting module 33, and a clamping device 5. The transport bracket 31 is mounted on the other end of the gimbal via the transport moving module 31. The transport lifting module 33 is mounted on the transport bracket 31, and the clamping device 5 is mounted on the transport lifting module 33. The transport moving module 32 drives the transport lifting module 33 to move horizontally, and the transport lifting module 33 drives the clamping device 5 to move vertically. In this embodiment, the transport moving module 32 and the transport lifting module 33 are devices used to drive the device to move horizontally and vertically, which is existing technology and will not be described in detail here. The clamping device 5 clamps the ring and places it on the launch tray 22.

[0052] like Figures 8-9 As shown, the clamping device 5 includes a tension drive motor 50, a tensioning assembly 53, and a clamping bracket 55, which is mounted on the transport and lifting module 33.

[0053] like Figure 9 and Figure 10 As shown, the tensioning assembly 53 includes a tensioning drive screw 531, a tensioning connecting plate 532, a tensioning connecting rod 533, and a tensioning claw plate 534. The tensioning drive motor 50 is mounted on the clamping bracket 55. The tensioning drive screw 531 is mounted on the drive shaft of the tensioning drive motor 50. The tensioning connecting plate 532 is mounted on the tensioning drive screw 531 via a tensioning slider 535. The top end of the tensioning claw plate 534 is slidably mounted on the clamping bracket 55 via a claw plate slider 5341. One end of the tensioning connecting rod 533 is hinged to the tensioning connecting plate 532, and the other end of the tensioning connecting rod 533 is hinged to the tensioning claw plate 534. The tensioning claw plate 534 and the tensioning connecting plate 532 are connected to each other via the tensioning connecting rod 533 to form a parallelogram linkage structure. The tensioning drive motor 50 drives the tensioning claw plate 534 to open the ring 01 for fixation.

[0054] like Figure 10As shown, the tensioning assembly 53 has three components arranged in a ring on the clamping bracket 55. The tensioning assembly 53 also includes a synchronous driving pulley 536, a synchronous driven pulley 537, and a synchronous belt 538. The synchronous driving pulley 536 is provided on the drive shaft of the tensioning drive motor 50. The tensioning screw 531 of the tensioning assembly is connected to the synchronous driving pulley 536. The synchronous driven pulley 537 is rotatably mounted on the clamping bracket 55 through a driven pulley bearing (not shown in the figure). The tensioning screw 531 is provided on the synchronous driven pulley 537. The synchronous belt 538 is wound between the synchronous driving pulley 536 and the synchronous driven pulley 537.

[0055] With this configuration, by setting a synchronous belt 538, the tension drive motor 20 drives the synchronous active pulley 536 to rotate, which in turn drives the synchronous belt 528 to rotate, thereby driving the tension screw 531 connected to the synchronous driven pulley 527 to rotate. Thus, one tension drive motor 50 can drive three tensioning components 53 to operate, resulting in a simple and reliable structure.

[0056] like Figure 8 and Figure 9 As shown, the clamping device 5 further includes a clamping mounting frame 51, an angle adjustment module 52, and a pushing component 54. The clamping mounting frame 51 is mounted on the transport lifting module 33, and the angle adjustment module 52 is mounted on the clamping mounting frame 51. A clamping bracket 55 is provided on the angle adjustment module 52, and the angle adjustment module 52 drives the clamping bracket 55 to swing up and down. A tensioning component 53 is located below the clamping bracket 55, and a pushing component 54 is also provided on the clamping bracket 55. The tensioning component 53 extends into the center of the ring and expands the ring. The ring is a rubber ring, and the tensioning component expands the ring to make the ring shape change, thereby achieving fixation. In this embodiment, the angle adjustment module is a device that can drive the device to swing up and down, which is existing technology and will not be described in detail here.

[0057] With this configuration, the tensioning component 53 extends into the stacked rings 01 (e.g., Figure 9 The rings are stretched open inside the tensioning assembly (as shown), thereby achieving tension and fixation of the rings. When the rings need to be lowered, the pushing assembly 54 pushes the uppermost ring downwards, thereby pushing the lowermost ring away from the tensioning assembly. This allows the stack of rings to be separated one by one from the lowermost ring, thus facilitating launch.

[0058] like Figure 9 and Figure 11As shown, the pushing assembly 54 includes a pushing motor 541, a pushing screw 542, a pushing slider 543, and a pushing plate 544. The pushing motor 541 is mounted on the clamping bracket 55. One end of the pushing screw 542 is connected to the drive shaft of the pushing motor 541, and the other end of the pushing screw 542 is provided with a pushing bearing 5421. The inner ring of the pushing bearing 5421 is connected to the pushing screw 542, and the outer ring of the pushing bearing 5421 is provided with a pushing connecting plate 545. A guide shaft 546 is located between the clamping bracket 55 and the pushing connecting plate 545. The pushing slider 543 is mounted on the pushing screw 542, and a pushing base plate 547 is mounted on the pushing slider 543. The pushing base plate 547 is also mounted on the guide shaft 546 and slides up and down along the guide shaft 546. The pushing plate 544 is mounted on the pushing base plate 547, and the pushing plate 544 is pressed into a ring. With this configuration, when a ring needs to be placed, the push motor 541 drives the push screw 542 to rotate, which in turn drives the push plate 544 to move downward, thereby squeezing the ring at the top of the tensioning assembly 53 and extruding the ring at the bottom of the tensioning assembly 53. Each time, the push motor 541 drives the push slider 543 to move downward by the thickness of one ring, thus ensuring that one ring is extruded at a time, which facilitates the individual transport of the rings.

[0059] The working principle of this invention is as follows: By setting up a handling mechanism, the rings are automatically clamped and transported, thereby reducing the workload of the participants. When grasping the rings, the tensioning component is inserted into the stack of rings, and the tensioning motor drives the tensioning drive screw to rotate, which in turn moves the tensioning connecting plate set on the tensioning slider up and down. Since the top of the tensioning claw plate is slidably set on the gripping bracket, when the tensioning connecting plate moves up and down, the movement principle of the linkage structure drives the tensioning claw plate to slide outward along the gripping bracket. Thus, the tensioning claw plate opens the ring, and the elastic deformation of the ring allows it to better adhere to the tensioning claw plate for fixation. The moving module allows the ring-throwing robot to move to different positions for throwing. When throwing the ring, the handling mechanism places the ring on the launching tray, and the drive component drives the launching spring to compress. The release component releases the elastic force of the launching spring, and the ring is launched by the elastic force of the launching spring. This achieves the launching of the ring. The structure is simple and reliable.

Claims

1. A robot for training projection onto a ring-shaped object, comprising a frame, characterized in that: The frame is equipped with a moving module, a launching mechanism and a transporting mechanism. The moving module is located at the bottom of the frame, and the gimbal is located at the center of the frame. The launching mechanism is located at one end of the gimbal, and the transporting mechanism is located at the other end of the gimbal. The launching mechanism includes a launching base, a launching tray, and a launching drive device. The launching drive device includes a drive component, a launching spring, and a release component. The launching base is located at one end of the gimbal. The drive component is located on the launching base, the launching spring is located on the launching base, the launching tray is located on the launching spring, and the release component is located below the launching base. The drive component drives the release component to compress the launching spring, and the release component restricts the setting of the compressed launching spring. The transport mechanism includes a transport bracket, a transport moving module, a transport lifting module, and a clamping device. The transport bracket is mounted on the other end of the gimbal via the transport moving module. The transport lifting module is mounted on the transport bracket, and the clamping device is mounted on the transport lifting module. The transport moving module drives the transport lifting module to move laterally, and the transport lifting module drives the clamping device to move vertically. The clamping device includes a tension drive motor, a tensioning component, and a clamping bracket, which is mounted on the transport lifting module. The tensioning assembly includes a tensioning drive screw, a tensioning connecting plate, a tensioning connecting rod, and a tensioning claw plate. The tensioning drive motor is mounted on a clamping bracket, and the tensioning drive screw is mounted on the drive shaft of the motor. The tensioning connecting plate is mounted on the tensioning drive screw via a tensioning slider. The top end of the tensioning claw plate is slidably mounted on the clamping bracket via a claw plate slider. One end of the tensioning connecting rod is hinged to the tensioning connecting plate, and the other end is hinged to the tensioning claw plate. The tensioning claw plate and the tensioning connecting plate are interconnected via the tensioning connecting rod to form a parallelogram linkage structure. The tensioning drive motor drives the tensioning claw plate to open the ring for fixation. A release adjustment assembly is also provided on the launch base. The release adjustment assembly includes a release adjustment motor, a release adjustment lead screw, a release adjustment drive wheel, a release adjustment driven wheel, a release adjustment lead screw nut, a release adjustment slider, a release adjustment guide rail, and a release adjustment rod. The release adjustment motor is located at one end of the launch base. A release adjustment drive wheel is located on the drive shaft of the release adjustment motor. A release adjustment driven wheel that meshes with the release adjustment drive wheel is located at one end of the launch base. One end of the release adjustment lead screw is connected to the release adjustment driven wheel. The other end of the release adjustment lead screw is located at the other end of the launch base through a release adjustment bearing. A release adjustment lead screw nut is located on the release adjustment lead screw. A release adjustment guide rail is located on the launch base. The release adjustment rod is slidably mounted on the release adjustment guide rail through the release adjustment slider. The release adjustment rod is also connected to the release adjustment lead screw nut. The release adjustment rod is in contact with the release trigger plate.

2. The robot for projecting onto a ring-shaped object according to claim 1, characterized in that: The drive assembly includes a release drive motor, a release drive driving wheel, a release drive driven wheel, a release drive screw, a release base, a release slider, and a release screw nut. A release drive motor is located at one end of the launch base, and a release drive driving wheel is mounted on the drive shaft of the release drive motor. A release drive driven wheel, meshing with the release drive driving wheel, is located at one end of the launch base. One end of the release drive screw is connected to the release drive driven wheel, and the other end of the release drive screw is mounted on the other end of the launch base via a release screw bearing. A release screw nut is mounted on the release drive screw, and a release guide rail is mounted on the launch base. The release base is slidably mounted on the release guide rail via a release slider. The release base is also connected to the release screw nut, and a release assembly is mounted on the release base, which restricts the launch spring.

3. The robot for projecting onto a ring-shaped object according to claim 2, characterized in that: The release assembly includes a release plate, a release connecting plate, and a release trigger plate. The center of the release connecting plate is rotatably disposed at the center of one end of the release base via a first connecting shaft. A second connecting shaft is disposed at the center of the other end of the release base. The release trigger plate is rotatably disposed on the second connecting shaft. The release trigger plate is in contact with one end of the release connecting plate. A third connecting shaft is disposed at the other end of the release connecting plate. The release plate is rotatably disposed on the third connecting shaft. A first spring is disposed between the release plate and the other end of the release connecting plate. A second spring is disposed between the release connecting plate and the release base. A third spring is disposed between the release trigger plate and the release base. The third spring drives the release trigger plate to abut against the trigger connecting plate. The second spring drives the trigger connecting plate to press the release trigger plate, thereby mutually restricting and fixing the release trigger plate and the release connecting plate. The release plate is in contact with the release spring.

4. The robot for projecting onto a ring-shaped object according to claim 3, characterized in that: A release limiting groove is provided at the bottom of the other end of the release connecting plate, and a release limiting rod corresponding to the release limiting groove is provided at the bottom of the release plate. The first spring pulls the release plate to swing downward so that the release limiting rod abuts against the release limiting groove.

5. The robot for projecting onto a ring-shaped object according to claim 3, characterized in that: A release slot is provided on the release trigger plate, and a release thrust bearing corresponding to the release slot is provided at one end of the release connecting plate. A third spring drives the release trigger plate to swing downward so that the release slot abuts against the release thrust bearing. A second spring drives the trigger connecting plate to swing downward so that the release thrust bearing presses down on the bottom of the release slot.

6. The robot for projecting onto a ring-shaped object according to claim 1, characterized in that: The clamping device further includes a clamping mounting frame, an angle adjustment module, and a pushing component. The clamping mounting frame is mounted on the transport and lifting module, and the angle adjustment module is mounted on the clamping mounting frame. A clamping bracket is provided on the angle adjustment module, and the angle adjustment module drives the clamping bracket to swing up and down. A tensioning component is located below the clamping bracket, and a pushing component is provided on the clamping bracket. The tensioning component extends into the center of the ring and expands the ring. The ring is a rubber ring, and the tensioning component expands the ring to make the ring shape change, thereby achieving fixation.

7. A robot for projecting onto a ring-shaped object according to claim 6, characterized in that: The tensioning assembly comprises three components arranged in a ring on the clamping bracket. The tensioning assembly also includes a synchronous driving pulley, a synchronous driven pulley, and a synchronous belt. The drive shaft of the tensioning drive motor is provided with a synchronous driving pulley. A tensioning screw of one tensioning assembly is connected to the synchronous driving pulley. The synchronous driven pulley is rotatably mounted on the clamping bracket via a driven pulley bearing. A tensioning screw is provided on the synchronous driven pulley. The synchronous belt is wound between the synchronous driving pulley and the synchronous driven pulley.

8. A robot for projecting onto a ring-shaped object according to claim 6, characterized in that: The pushing assembly includes a pushing motor, a pushing lead screw, a pushing slider, and a pushing plate. The pushing motor is mounted on a clamping bracket. One end of the pushing lead screw is connected to the drive shaft of the pushing motor, and the other end of the pushing lead screw is provided with a pushing bearing. The inner ring of the pushing bearing is connected to the pushing lead screw, and the outer ring of the pushing bearing is provided with a pushing connecting plate. A guide shaft is located between the clamping bracket and the pushing connecting plate. The pushing slider is mounted on the pushing lead screw, and a pushing base plate is mounted on the pushing slider. The pushing base plate is also mounted on the guide shaft and slides up and down along the guide shaft. A pushing plate is mounted on the pushing base plate, and the pushing plate is pressed into a circular ring.

9. A robot for projecting onto a ring-shaped object according to claim 3, characterized in that: A spring guide shaft is also provided on the launching base, and a spring guide plate that slides along the length direction of the spring guide shaft is provided on the spring guide shaft. A launching spring is provided on the spring guide shaft between the spring guide plate and one end of the launching base, and the release plate is in contact with the spring guide plate.

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