A single-degree-of-freedom ejection mechanism

Abstract

This invention provides a single-degree-of-freedom (DOF) launching mechanism, comprising a single-DOF platform, a pushing mechanism, and a launching drive component. The single-DOF platform includes a support frame and a yaw drive module. The object to be launched is mounted on the support frame, and the yaw drive module drives the support frame to perform horizontal turning motion. The pushing mechanism includes a slide rail and a push block. The slide rail is mounted on the support frame, and the push block is mounted on the slide rail. The push block has a friction block, and the bottom of the object to be launched abuts against the push block. The launching drive component includes a trigger module, a moving module, and a damper. The trigger module is mounted on the support frame and located at the initial end of the slide rail. The moving module is mounted on the support frame and located outside the slide rail. The moving module includes a synchronous belt parallel to the slide rail and a launching drive component that drives the synchronous belt. The damper is mounted on the support frame and located at the end of the slide rail, and the damper has an elastic element that can buffer the push block. This invention can achieve precise launching of objects within a certain space.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a single-degree-of-freedom pushing mechanism. Background Technology

[0002] Currently, the robotics industry is developing rapidly, and robotics technology is widely used in various industries, such as industry, agriculture, and the military. Many work scenarios involve the precise delivery of goods, but currently, this is usually done manually, which cannot achieve a high degree of accuracy.

[0003] Furthermore, there are currently few solutions for precise delivery of goods in both production and civilian applications, so a technical solution that can achieve relatively high accuracy and reliability is needed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a single-degree-of-freedom launching mechanism capable of accurately delivering the launched object.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A single-degree-of-freedom launching mechanism, comprising:

[0007] A single-degree-of-freedom platform includes a support frame and a yaw drive module. The object to be pushed is mounted on the support frame, and the yaw drive module drives the support frame to perform horizontal turning motion through a first motor.

[0008] The pushing mechanism includes a slide rail and a push block. The slide rail is mounted on the support frame, the push block is mounted on the slide rail, and the push block is provided with a friction block. The bottom of the object being pushed abuts against the push block.

[0009] The launching drive includes a trigger module, a moving module, and a damper. The trigger module is mounted on a support frame and located at the initial end of a slide rail, providing a pushing force to the push block to move along the slide rail. The moving module is mounted on the support frame and located outside the slide rail. The moving module includes a synchronous belt parallel to the slide rail and a launching drive that drives the synchronous belt. When the friction block contacts the synchronous belt, the launching drive drives the synchronous belt to move at high speed. Simultaneously, the friction block, under the action of friction, drives the push block and the object being pushed to move together with the synchronous belt. The damper is mounted on the support frame and located at the end of the slide rail. The damper has an elastic element that can buffer the push block. After the object being pushed out, the launching drive drives the synchronous belt to move in the opposite direction at low speed. Simultaneously, the friction block, under the action of friction, drives the push block to move back to its original position along with the synchronous belt.

[0010] Furthermore, the yaw drive module includes a first motor, a first motor mount, a base, a yaw drive gear, a yaw driven gear ring, a yaw bearing outer ring, a yaw bearing inner ring, and a yaw bearing. The first motor mount is fixed on a support frame, the first motor is fixed on the first motor mount, and the yaw drive gear is fixed on the output shaft of the first motor. The base is located below the support frame, and a yaw driven gear ring that meshes with the yaw drive gear is fixed on the base. A yaw bearing inner ring is provided on the outer side of the yaw driven gear ring. The base, the yaw driven gear ring, and the yaw bearing inner ring are fixedly connected. A yaw bearing outer ring is fixed at the bottom of the support frame, and the yaw bearing outer ring is located outside the yaw bearing inner ring. A yaw bearing is provided between the yaw bearing outer ring and the yaw bearing inner ring.

[0011] Furthermore, the support frame includes a support base plate, a support side plate, and an intermediate launcher. The support side plate is fixed to the support base plate, the intermediate launcher is fixed to the support side plate, and the pushing mechanism and the launch drive are mounted on the intermediate launcher.

[0012] Furthermore, the slide rail is set at a certain angle relative to the horizontal plane.

[0013] Furthermore, the triggering module includes a second motor, a second motor base, and a trigger. The second motor base is fixed on the support frame, the second motor is fixedly connected to the second motor base, and the trigger is fixed on the output shaft of the second motor, and the trigger is in contact with the push block.

[0014] Furthermore, the trigger is provided with multiple rolling bearings, the inner ring of the rolling bearing is fixed to the trigger, the outer ring of the rolling bearing is sleeved on the inner ring of the rolling bearing, and ball bearings are provided between the outer ring of the rolling bearing and the inner ring of the rolling bearing.

[0015] Furthermore, the launch drive component also includes an active synchronous pulley, a driven synchronous pulley, a reference plate, a top fixing plate, a synchronous belt guide fixing aluminum tube, and a synchronous belt guide. The launch drive motor of the active synchronous pulley is fixed to the reference plate via a third motor mount. The lower flange bearing of the active synchronous pulley presses against the reference plate, and the upper flange bearing of the active synchronous pulley presses against the top fixing plate. Both ends of the driven synchronous pulley are fixed between the reference plate and the top fixing plate via miniature flange bearings. The synchronous belt guide is fixed to the side of the synchronous belt guide fixing aluminum tube, which is fixedly connected between the reference plate and the top fixing plate. The active synchronous pulley and the driven synchronous pulley are located at the two ends of the synchronous belt, with the active synchronous pulley located at the end of the slide rail. The synchronous belt meshes with both the active and driven synchronous pulleys. The top fixing plate is fixedly connected to the reference plate via the synchronous belt guide fixing aluminum tube.

[0016] Furthermore, the launch drive component includes a third motor base, a launch drive motor, a lower flange bearing, a first carbon fiber pad, a second carbon fiber pad, a third carbon fiber pad, a drive synchronous pulley, a fourth carbon fiber pad, and an upper flange bearing. The stator of the launch drive motor is fixed on the third motor base. The output shaft of the launch drive motor is sequentially connected to the first carbon fiber pad, the second carbon fiber pad, the third carbon fiber pad, the drive synchronous pulley, and the fourth carbon fiber pad. Bolts pass through the through holes of the first carbon fiber pad, the second carbon fiber pad, the third carbon fiber pad, the fourth carbon fiber pad, and the drive synchronous pulley to be threadedly connected to the output shaft of the launch drive motor. The lower flange bearing is fitted on the first carbon fiber plate and the second carbon fiber plate, and the upper flange bearing is fitted on the fourth carbon fiber plate.

[0017] Furthermore, when the object being pushed is a ring, a side limiting mechanism is also included, which is mounted on the support frame. The mechanism includes a push cylinder, a rotating rod, and a limiting baffle. The push cylinder is fixed to the support frame, and the output end of the push cylinder is hinged to the rotating rod. The rotating rod is fixed to the limiting baffle, and the limiting baffle is hinged to the support frame. The limiting baffle is provided with a buckle for locking the object being pushed.

[0018] Furthermore, it also includes a bottom limiting mechanism, which includes a support column and a first support plate and a second support plate respectively disposed at both ends of the support column. A support member is provided between the first support plate and the second support plate, and the object to be pushed is disposed between the first support plate and the second support plate and is locked on the support member.

[0019] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0020] This invention can accurately and reliably project objects. Furthermore, the indirect launch of the object reduces damage to it. The mechanism uses a pusher to push the object out, avoiding direct contact between the timing belt and the object, thus preventing surface wear caused by friction. In addition, indirect launch also avoids the surface condition of the object affecting the launch accuracy. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and are intended to explain the invention, but do not constitute an undue limitation thereof. In the drawings:

[0022] Figure 1 This is an isometric view of the present invention.

[0023] Figure 2 This is an isometric view of the single-degree-of-freedom gimbal of the present invention.

[0024] Figure 3This is an exploded view of the yaw drive module of the present invention.

[0025] Figure 4 This is an exploded view of the yaw portion of the present invention.

[0026] Figure 5 This is an exploded view of the pusher block and bottom limiting mechanism of the present invention.

[0027] Figure 6 This is a schematic diagram illustrating the limiting of the object being pushed by the present invention.

[0028] Figure 7 This is an exploded view of the side limiting mechanism of the present invention.

[0029] Figure 8 This is an isometric view of the launch drive mechanism of the present invention.

[0030] Figure 9 This is an exploded view of the trigger module of the present invention.

[0031] Figure 10 This is an exploded view of the launch drive component of the present invention.

[0032] Figure 11 This is an exploded view of the launch drive mechanism of the present invention.

[0033] Figure 12 This is a schematic diagram of the launch action.

[0034] Among them, 100 is a single-degree-of-freedom platform; 110 is a support frame; 111 is a support base plate; 112 is a support side plate; 113 is an intermediate launcher; 1131 is a launch base plate; 1132 is a launch side plate; 1133 is a launch base plate; 114 is a support aluminum component; 120 is a yaw drive module; 121 is a first motor; 122 is a first motor mount; 123 is a base; 124 is a yaw drive gear; 125 is a yaw driven gear ring; 126 is a yaw bearing outer ring; 127 is a yaw bearing inner ring; 128 is a yaw bearing; 129 is an output drive shaft; 1210 is a first pressure plate coupling; and 1211 is an output bearing.

[0035] 200. Pushing mechanism; 201. Slide rail; 202. Push block; 203. Friction block;

[0036] 300. Launch drive mechanism; 310. Trigger module; 311. Second motor; 312. Second motor mount; 313. Trigger; 314. Rolling bearing; 315. Trigger printout; 320. Moving module; 321. Synchronous belt; 322. Launch drive component; 3221. Launch drive motor; 3222. Active synchronous belt pulley; 3223. Driven synchronous belt pulley; 3224. Reference plate; 3225. Top fixing plate; 3226. Synchronous belt guide bar fixing aluminum tube; 3227. Synchronous belt guide bar; 3228. Third motor mount; 3229. Lower side bearing; 3230. First carbon fiber pad; 3231. Second carbon fiber pad; 3232. Third carbon fiber pad; 3233. Fourth carbon fiber pad; 3234. Upper side bearing; 330. Damper;

[0037] 400. Side limiting mechanism; 401. Push cylinder; 402. Rotating rod; 403. Limiting baffle; 404. First side bearing; 405. Second baffle bearing; 406. Buckle; 407. Collar; 408. Push cylinder seat; 409. Limiting baffle fixing component;

[0038] 500. Bottom limiting mechanism; 501. First support plate; 502. Second support plate; 503. Support column; 504. Push ring printed part. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0040] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0041] Example 1

[0042] This invention provides a single-degree-of-freedom pushing mechanism, such as... Figures 1-12 As shown, it includes a single-degree-of-freedom platform 100, a propulsion mechanism 200, and a launch drive mechanism 300.

[0043] The single-degree-of-freedom platform 100 includes a support frame 110 and a yaw drive module 120. The object to be pushed is mounted on the support frame 110, which is used to support the object to be pushed. The yaw drive module 120 drives the support frame 110 to perform horizontal turning motion through a first motor 121.

[0044] The pushing mechanism 200 includes a slide rail 201 and a push block 202. The slide rail 201 is mounted on the support frame 110, and the push block 202 is mounted on the slide rail 201. The push block 202 is provided with a friction block 203, and the bottom of the object being pushed abuts against the push block 202.

[0045] The launch drive mechanism 300 includes a trigger module 310, a moving module 320, and a damper 330. The trigger module 310 is mounted on the support frame 110 and located at the initial end of the slide rail 201, providing a pushing force to the push block 202 to move on the slide rail 201. The moving module 320 is mounted on the support frame 110 and located outside the slide rail 201. The moving module 320 includes a synchronous belt 321 parallel to the slide rail 201 and a launch drive component 322 that drives the synchronous belt 321. When the friction block 203 contacts the synchronous belt 321, the launch drive component 322 drives the synchronous belt 321 to move at high speed, while the friction block 203... Driven by friction, the pusher 202 and the object being pushed move together with the synchronous belt 321. The damper 330 is mounted on the support frame 110 and at the end of the slide rail 201. The damper 330 has an elastic element that can contact the pusher 202. By setting the damper 330, the elastic element on the damping rod 330 plays a buffering role, reducing the speed of the pusher 202 to zero and preventing damage to the pusher from violent impact. After the object being pushed is launched, the launching drive 322 drives the synchronous belt 321 to move in the opposite direction at a low speed. At the same time, the friction block 203, driven by friction, drives the pusher 202 to move back to its original position along with the synchronous belt 321.

[0046] This invention is used for propelling relatively light objects, typically weighing less than 200g.

[0047] The present invention provides a single-degree-of-freedom thrusting mechanism, comprising the following steps:

[0048] Step 1: Adjust the position of the support frame 110 using the yaw drive module 120;

[0049] Step 2: Drive the synchronous belt 321 to move at high speed via the launch drive unit 322;

[0050] Step 3: Ensure that the push block 202 is at the initial end of the slide rail 201, and place the object to be pushed on the push block 202;

[0051] Step 4: The trigger module 310 provides a pushing force to the push block 202, causing the push block 202 to move along the slide rail 201, thereby causing the friction block 203 to contact the synchronous belt 321. This causes the launching drive 322 to drive the synchronous belt 321 to move at high speed, while simultaneously driving the push block 202 and the object to be pushed to continue moving along the slide rail 201. When the push block 202 and the object to be pushed to the end of the slide rail 201, the object to be pushed out by friction. The damper 330 contacts the push block 202 through the elastic element, reducing the speed of the push block 202 to zero.

[0052] Step 5: The launch drive 322 drives the synchronous belt 321 to move in the opposite direction at a low speed, while simultaneously driving the push block 202 to move in the opposite direction along the slide rail 201 until it returns to its original position.

[0053] The present invention provides a single-degree-of-freedom delivery mechanism that can accurately deliver the object within a certain spatial range and can be applied to many non-handover delivery scenarios that require high precision.

[0054] The present invention uses a pusher block 202 to push out the object to be launched, avoiding direct contact between the timing belt 321 and the object to be launched, thus achieving indirect launch. This can avoid surface wear of the object to be launched due to friction. At the same time, indirect launch can also avoid the surface condition of the object to be launched affecting the launch accuracy.

[0055] The yaw drive module 120 is described in detail below.

[0056] In this invention, such as Figures 1-4As shown, the yaw drive module 120 includes a first motor 121, a first motor mount 122, a base 123, a yaw drive gear 124, a yaw driven gear ring 125, a yaw bearing outer ring 126, a yaw bearing inner ring 127, and a yaw bearing 128. The first motor mount 122 is fixed on the support frame 110, and the first motor 121 is fixed on the first motor mount 122. The output shaft of the first motor 121 and the output drive shaft 129 are connected by a first pressure plate coupling 1210. The output bearing 1211 is located between the output drive shaft 129 and the support frame 110. The yaw drive gear 124 is located at the end of the output drive shaft 129. The base 123 is located below the support frame 110. The base 123 is usually fixed to the ground or platform by bolts. The yaw driven gear ring 125, which meshes with the yaw drive gear 124, is fixed on the base 123. The yaw driven gear ring 125 is located on the outer side of the yaw bearing inner ring 127. The base 123, the yaw driven gear ring 125, and the yaw bearing inner ring 127 are fixedly connected, and the components are fixed relative to the ground. The bottom of the support frame 110 is fixed with the yaw bearing outer ring 126, which is located outside the yaw bearing inner ring 127. A yaw bearing 128 is provided between the yaw bearing outer ring 126 and the yaw bearing inner ring 127.

[0057] The first motor 121 drives the yaw drive gear 124 to rotate, and the yaw drive gear 124 meshes with the yaw driven gear ring 125, thereby causing the support frame 110 to make a horizontal turning motion relative to the base 123.

[0058] Among them, the first motor 121 is a brushless servo motor.

[0059] The support frame 110 is described in detail below.

[0060] like Figure 2 and Figure 6As shown, the support frame 110 includes a support base plate 111, support side plates 112 and an intermediate launcher 113. The two support side plates 112 are fixed on the support base plate 111 at a certain distance apart. The support side plates 112 have a triangular plate structure, which allows the object to be launched to be placed on the support side plates 112 at a certain angle. Two supporting aluminum parts 114 are arranged at a certain distance on the supporting base plate 111. The supporting side plate 112 is fixed to the supporting aluminum parts 114 by bolts. The intermediate launcher 113 is fixed on the two supporting side plates 112. The intermediate launcher 113 is set at a certain angle. The intermediate launcher 113 includes a launch base plate 1131, a launch side plate 1132 and a launch base plate 1133. The two launch side plates 1132 are fixed on the launch base plate 1131 at a certain distance. The launch base plate 1133 is fixed on the launch base plate 1131 and is located at the bottom of the two launch side plates 1132. The slide rail 201 is fixed on the launch base plate 1131. The push block 202 is located on the slide rail 201. The trigger module 310 is located on the launch base plate 1133 for pushing the push block 202 to move on the slide rail 201.

[0061] Because the supporting side plate 112 is a triangular plate structure, the middle launcher 113 is set at a certain angle relative to the horizontal plane, and the slide rail 201 is also set at a certain angle relative to the horizontal plane. Therefore, the push block 202 is subjected to gravity at the bottom of the slide rail 201. Only when the trigger module 310 pushes the push block 202, the push block 202 moves along the slide rail 201. When the launch drive 322 drives the synchronous belt 321 to move in the opposite direction at a low speed, and at the same time drives the push block 202 to move in the opposite direction along the slide rail 201, the push block 202 and the friction block 203 will be subjected to gravity and inertial force and separate from the synchronous belt 321.

[0062] The trigger module 310 is described in detail below.

[0063] like Figure 9 As shown, the trigger module 310 includes a second motor 311, a second motor base 312, a trigger 313, and a rolling bearing 314. The second motor base 312 is fixed on the launch base plate 1133 on the support frame 110. The second motor 311 is fixedly connected to the second motor base 312. The trigger 313 is fixed on the output shaft of the second motor 311 and contacts the push block 202. In order to transmit the output power of the second motor 311 to the trigger 313, a trigger print 315 is fixed between the output shaft of the trigger 313 and the second motor 311. The trigger print 315 is equivalent to a coupling.

[0064] During use, the second motor 311 drives the trigger 313 to rotate, giving the push block 202 a certain pushing force, so that the push block 202 moves on the slide rail 201.

[0065] In addition, in this invention, the trigger 313 is provided with a plurality of rolling bearings 314, which contact the push block 202 through the rolling bearings 314, converting the sliding friction between the trigger 313 and the push block 202 into rolling friction, and also preventing the push block 202 from getting stuck.

[0066] Among them, the second motor 311 is a brushless servo motor.

[0067] Specifically, the inner ring of the rolling bearing 314 is fixed to the trigger 313, the outer ring of the rolling bearing 314 is sleeved on the inner ring of the rolling bearing 314, and balls are provided between the outer ring of the rolling bearing 314 and the inner ring of the rolling bearing 314.

[0068] In this embodiment of the invention, the trigger 313 is arc-shaped, the three rolling bearings 314 are arranged in an arc shape, and the outer surface of the push block 202 is also arc-shaped.

[0069] The mobile module 320 is described in detail below.

[0070] like Figure 10 and Figure 11 As shown, the launch drive unit 322 includes a launch drive motor 3221. An active synchronous pulley 3222 is mounted on the output shaft of the launch drive motor 3221, and a driven synchronous pulley 3223 is mounted on the intermediate launch frame 113. The synchronous belt 321 is sleeved on the active synchronous pulley 3222 and the driven synchronous pulley 3223. In a specific embodiment of the present invention, two moving modules 320 are respectively located on both sides of the slide rail 201.

[0071] like Figure 10 and Figure 11As shown, the launch drive unit 322 includes an active synchronous pulley 3222, a driven synchronous pulley 3223, a reference plate 3224, a top fixing plate 3225, a timing belt guide fixing aluminum tube 3226, and a timing belt guide 3227. The launch drive motor 3221 of the active synchronous pulley 3222 is fixed to the reference plate 3224 via a third motor mount 3228. Simultaneously, the lower flange bearing 3229 of the active synchronous pulley 3222 presses against the reference plate 3224, and the upper flange bearing 3234 of the active synchronous pulley 3222 presses against the top fixing plate 3225. Both ends of the driven synchronous pulley 3223 are fixed to the reference plate 3224 via miniature flange bearings. Between the reference plate 3224 and the top fixed plate 3225; the synchronous belt guide 3227 is fixed to the side of the synchronous belt guide fixing aluminum tube 3226, and the synchronous belt guide fixing aluminum tube 3226 is fixedly connected between the reference plate 3224 and the top fixed plate 3225; the driving synchronous belt pulley 3222 and the driven synchronous belt pulley 3223 are respectively located at both ends of the synchronous belt 321, and the driving synchronous belt pulley 3222 is located at the end of the slide rail 201, and the synchronous belt 321 meshes with the driving synchronous belt pulley 3222 and the driven synchronous belt pulley 3223 respectively; the top fixed plate 3225 is fixedly connected to the reference plate 3224 through the launching side plate 1132 and the synchronous belt guide fixing aluminum tube 3226.

[0072] By setting the synchronous belt guide bar to fix the aluminum tube 3226 and the synchronous belt guide bar 3227, the movement of the synchronous belt 321 is limited to prevent the synchronous belt from deviating and ensure accurate launch within a certain spatial range.

[0073] Specifically, such as Figure 10 As shown, the launch drive unit 322 includes a third motor mount 3228, a launch drive motor 3221, a lower flange bearing 3229, a first carbon fiber pad 3230, a second carbon fiber pad 3231, a third carbon fiber pad 3232, a drive synchronous pulley 3222, a fourth carbon fiber pad 3233, and an upper flange bearing 3234. The stator of the launch drive motor 3221 is fixed on the third motor mount 3228, and the output shaft of the launch drive motor 3221 is sequentially connected to the first carbon fiber pad 3230, the second carbon fiber pad 3231, the third carbon fiber pad 3232, the drive synchronous pulley 3222, the fourth carbon fiber pad 3233, and the upper flange bearing 3234. The pad 3231, the third carbon fiber pad 3232, the active synchronous pulley 3222, and the fourth carbon fiber pad 3233 are threadedly connected to the output shaft of the transmitter drive motor 3221 by bolts passing through the through holes of the first carbon fiber pad 3230, the second carbon fiber pad 3231, the third carbon fiber pad 3232, the fourth carbon fiber pad 3233, and the active synchronous pulley 3222. The lower flange bearing 3229 is fitted on the first carbon fiber plate and the second carbon fiber plate, and the upper flange bearing 3234 is fitted on the fourth carbon fiber plate.

[0074] Among them, the transmitter drive motor 3221 is a brushless servo motor.

[0075] This invention can adjust the rotation speed of the launch drive motor 3221 to achieve precise launch at different distances, and in conjunction with the yaw motion module, it can achieve precise launch within a certain spatial range.

[0076] Example 2

[0077] A single-degree-of-freedom launching mechanism is provided to further limit the launching object; this embodiment makes the following additions based on the previous embodiment:

[0078] like Figure 6 and Figure 7 As shown, the position of the object being launched directly on the pusher block 202 is typically a range, not a perfectly precise position. Therefore, a limit switch is needed to ensure that the initial state of the launched object remains consistent.

[0079] The present invention also includes a bottom limiting mechanism 500, which is fixed on the push block 202.

[0080] Specifically, such as Figure 1 and Figure 5 As shown, the bottom limiting mechanism 500 includes multiple support columns 503 and a first support plate 501 and a second support plate 502 respectively disposed at both ends of the multiple support columns 503, such that the first support plate 501 and the second support plate 502 are spaced a certain distance apart vertically. A support member is provided between the first support plate 501 and the second support plate 502. The object to be pushed is disposed between the first support plate 501 and the second support plate 502 and is locked on the support member. The support member is determined according to the shape of the object to be pushed. When the object to be pushed is a ring, the support member is two push ring printed parts 504 disposed at a certain distance apart. The two push ring printed parts 504 are disposed between the first support plate 501 and the second support plate 502. The outer surfaces of the two push ring printed parts 504 are arc-shaped, which is adapted to the ring and can further support the ring. Meanwhile, the movable limit mechanism can ensure that the object being pushed does not fall during the yaw motion. After reaching the specified angle, the movable limit is released, the launch drive motor 3221 rotates, driving the synchronous belts 321 on both sides to rotate, and the trigger 313 is activated to push the push block 202 forward to contact the synchronous belt 321. The push block 202 is pushed out by the friction between the synchronous belt 321 and the push block 202, thus realizing the pushing of the object.

[0081] When the object being pushed is a ring, in order to further limit the object being pushed, the present invention also includes a side limiting mechanism 400. The side limiting mechanism 400 is provided on the support frame 110. The side limiting mechanism 400 includes a push cylinder 401, a rotating rod 402 and a limiting baffle 403. The push cylinder 401 is fixed to the support frame 110 through a push cylinder seat 408. The output end of the push cylinder 401 is hinged to the rotating rod 402. The rotating rod 402 is fixed to the limiting baffle 403. The limiting baffle 403 is hinged to the support frame 110. The limiting baffle 403 is provided with a buckle 406 for locking the object being pushed.

[0082] During use, after the object to be pushed is placed on the push block 202, the output end of the push cylinder 401 is moved by adjusting the push cylinder 401, which in turn drives the rotating rod 402 to move. Since the limiting plate is hinged to the support frame 110 and the limiting baffle 403 is fixed to the rotating rod 402, the limiting plate will rotate relative to the support frame 110, so that the buckle 406 locks the object to be pushed.

[0083] In a specific embodiment of the present invention, the pushing cylinder 401 is a hydraulic cylinder, a pneumatic cylinder, or an electric push rod. The output end of the pushing cylinder 401 is provided with a collar 407. The collar 407 is connected to the rotating rod 402 through a first flange bearing 404. Both ends of the rotating rod 402 are fixed with limit baffles 403 through limit baffle fixing members 409. The limit baffles 403 have an L-shaped structure. One end of the limit baffles 403 is fixed to the rotating rod 402, and the middle part of the limit baffles 403 is connected to the support frame 110 through a second baffle bearing 405. The other end of the limit baffles 403 is provided with a buckle 406.

[0084] In summary, the present invention has precise projection and high reliability. The mechanism adopts closed-loop control of servo motor, which can achieve high-precision speed control.

[0085] The single-degree-of-freedom launching mechanism provided by this invention limits the launched object before launch, which can ensure that different launched objects are in the same launch state and ensure launch consistency.

[0086] The single-degree-of-freedom launching mechanism provided by the present invention indirectly launches the object to be launched, reducing damage to the ring. The mechanism uses a pusher block to push the object to be launched, avoiding direct contact between the timing belt and the object to be launched, which can avoid surface wear of the ring due to friction. At the same time, indirect launch can also avoid the surface condition of the object to be launched affecting the launch accuracy.

[0087] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A single-degree-of-freedom pushing mechanism, characterized in that, include: A single-degree-of-freedom platform includes a support frame and a yaw drive module. The object to be pushed is mounted on the support frame, and the yaw drive module drives the support frame to perform horizontal turning motion through a first motor. The pushing mechanism includes a slide rail and a push block. The slide rail is mounted on the support frame, the push block is mounted on the slide rail, and the push block is provided with a friction block. The bottom of the object being pushed abuts against the push block. The launching drive includes a trigger module, a moving module, and a damper. The trigger module is mounted on a support frame and located at the initial end of the slide rail, providing a pushing force to the push block to move along the slide rail. The moving module is mounted on the support frame and located outside the slide rail. The moving module includes a synchronous belt arranged parallel to the slide rail and a launching drive that drives the synchronous belt. When the friction block contacts the synchronous belt, the launching drive drives the synchronous belt to move at high speed. At the same time, the friction block, under the action of friction, drives the push block and the object being pushed to move together with the synchronous belt. The damper is mounted on the support frame and located at the end of the slide rail. The damper is equipped with an elastic element that can buffer the push block. When the object being pushed is launched, the launching drive drives the synchronous belt to move in the opposite direction at low speed. At the same time, the friction block, under the action of friction, drives the push block to move back to its original position along with the synchronous belt. The push block is subjected to gravity at the bottom of the slide rail. The support frame includes a support base plate, a support side plate, and a middle launcher. The support side plate is fixed to the support base plate and has a triangular plate structure, which allows the object to be pushed to be placed on the support side plate at a certain angle. The middle launcher is fixed to the support side plate, and the pushing mechanism and the launch drive are located on the middle launcher. The triggering module includes a second motor, a second motor base, and a trigger. The second motor base is fixed on a support frame, the second motor is fixedly connected to the second motor base, and the trigger is fixed on the output shaft of the second motor. The trigger is in contact with the push block. It also includes a bottom limiting mechanism, which is fixed on the push block. The bottom limiting mechanism includes a support column and a first support plate and a second support plate respectively disposed at both ends of the support column. A support member is provided between the first support plate and the second support plate. The object to be pushed is disposed between the first support plate and the second support plate and is locked on the support member.

2. The single-degree-of-freedom thrusting mechanism according to claim 1, characterized in that: The yaw drive module includes a first motor, a first motor mount, a base, a yaw drive gear, a yaw driven gear ring, a yaw bearing outer ring, a yaw bearing inner ring, and a yaw bearing. The first motor mount is fixed on a support frame, and the first motor is fixed on the first motor mount. The yaw drive gear is fixed on the output shaft of the first motor. The base is located below the support frame, and a yaw driven gear ring that meshes with the yaw drive gear is fixed on the base. A yaw bearing inner ring is provided on the outer side of the yaw driven gear ring. The base, the yaw driven gear ring, and the yaw bearing inner ring are fixedly connected. A yaw bearing outer ring is fixed at the bottom of the support frame, and the yaw bearing outer ring is located outside the yaw bearing inner ring. A yaw bearing is provided between the yaw bearing outer ring and the yaw bearing inner ring.

3. The single-degree-of-freedom thrusting mechanism according to claim 1, characterized in that: The slide rail is set at a certain angle relative to the horizontal plane.

4. The single-degree-of-freedom thrusting mechanism according to claim 1, characterized in that: The trigger is equipped with multiple rolling bearings. The inner ring of the rolling bearing is fixed to the trigger, and the outer ring of the rolling bearing is sleeved on the inner ring of the rolling bearing. Ball bearings are provided between the outer ring of the rolling bearing and the inner ring of the rolling bearing.

5. The single-degree-of-freedom thrusting mechanism according to claim 1, characterized in that: The launch drive component also includes an active synchronous pulley, a driven synchronous pulley, a reference plate, a top fixing plate, a synchronous belt guide fixing aluminum tube, and a synchronous belt guide. The launch drive motor of the active synchronous pulley is fixed to the reference plate via a third motor mount. The lower flange bearing of the active synchronous pulley presses against the reference plate, and the upper flange bearing of the active synchronous pulley presses against the top fixing plate. Both ends of the driven synchronous pulley are fixed between the reference plate and the top fixing plate via miniature flange bearings. The synchronous belt guide is fixed to the side of the synchronous belt guide fixing aluminum tube, which is fixedly connected between the reference plate and the top fixing plate. The active synchronous pulley and the driven synchronous pulley are located at the two ends of the synchronous belt, with the active synchronous pulley located at the end of the slide rail. The synchronous belt meshes with both the active and driven synchronous pulleys. The top fixing plate is fixedly connected to the reference plate via the synchronous belt guide fixing aluminum tube.

6. The single-degree-of-freedom thrusting mechanism according to claim 1, characterized in that: The launch drive component includes a third motor base, a launch drive motor, a lower flange bearing, a first carbon fiber pad, a second carbon fiber pad, a third carbon fiber pad, a drive synchronous pulley, a fourth carbon fiber pad, and an upper flange bearing. The stator of the launch drive motor is fixed on the third motor base. The output shaft of the launch drive motor is sequentially connected to the first carbon fiber pad, the second carbon fiber pad, the third carbon fiber pad, the drive synchronous pulley, and the fourth carbon fiber pad. Bolts pass through the through holes of the first carbon fiber pad, the second carbon fiber pad, the third carbon fiber pad, the fourth carbon fiber pad, and the drive synchronous pulley to be threadedly connected to the output shaft of the launch drive motor. The lower flange bearing is fitted on the first carbon fiber plate and the second carbon fiber plate, and the upper flange bearing is fitted on the fourth carbon fiber plate.

7. The single-degree-of-freedom thrusting mechanism according to claim 1, characterized in that: When the object being pushed is a ring, a side limiting mechanism is also included, which is mounted on the support frame. The mechanism includes a push cylinder, a rotating rod, and a limiting baffle. The push cylinder is fixed to the support frame, and the output end of the push cylinder is hinged to the rotating rod. The rotating rod is fixed to the limiting baffle, and the limiting baffle is hinged to the support frame. The limiting baffle is provided with a buckle, which is used to hold the object being pushed.

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