Loop throwing robot

Abstract

The application provides a ring throwing robot, which comprises a frame, a moving module, a launching mechanism and a carrying mechanism, the moving module is arranged at the bottom of the frame, a holder is arranged at the center of the frame, 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 launching mechanism comprises a launching driving device, a launching tray and a launching rubber band, the launching driving device is arranged at one end of the holder, the launching rubber band is arranged on the launching driving device, and the launching tray is arranged on the launching rubber band, the launching driving device drives the launching rubber band to stretch, the rear end of the launching tray is inclined forward and downward to the front end, and a launching angle is formed between the launching tray and the launching driving device; the above structure can automatically grab a ring and throw the ring, and can reduce the influence of the launching device on the ring, so that the launching effect is better.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a ring-throwing robot. 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. The "National College Student Robot Competition (Robocon)" is the domestic qualifier for the "Asia-Pacific College Student Robot Competition," an event initiated by the Asian Broadcasting Union (ABU) in 2002 to showcase college student robot design and construction. The competition releases a new set of rules annually, requiring participants to comprehensively utilize mechanical, electronic, and control technologies to complete the tasks set by the rules. It serves as a high-tech robotics competition platform.

[0004] The theme of the 2023 ABU Robocon competition was a collaboration between a rabbit robot and an elephant robot to scatter 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, if you clamp them too tightly, the rings may deform and become unable to be clamped. If you clamp them too tightly, you may not be able to pick them up at all, which can affect the entire ring-throwing operation. At the same time, the rings are relatively flat and hollow in the middle. Therefore, unlike other ball-throwing objects, the rings may deform due to the instantaneous force of the launching device when they are thrown, which will ultimately affect the ring-throwing effect. Summary of the Invention

[0006] This invention provides a ring-throwing robot that can automatically grasp and throw rings, and can reduce the impact of the launching device on the rings, thereby improving the launching effect.

[0007] To achieve the above objectives, the technical solution of the present invention is: a ring-throwing robot, 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 drive device, a launching tray, and a launching rubber band. The launching drive device is located at one end of the gimbal, and the launching rubber band is located on the launching drive device. The launching tray is located on the launching rubber band. The launching drive device drives the launching rubber band to be stretched. The rear end of the launching tray extends forward and downward to the front end, forming a launching angle between the launching tray and the launching drive device.

[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 set on the transport bracket. The clamping device is set on the transport lifting module. The transport moving module drives the transport lifting module to move horizontally, and the transport lifting module drives the clamping device to move vertically.

[0010] The gripping device grips the ring and places it on the launch tray.

[0011] The aforementioned structure, through the inclusion of a transport mechanism, automatically picks up and transports the ring, reducing the workload of participants. The included movement module allows the ring-throwing robot to be moved to different locations for projection. During projection, the transport mechanism places the ring onto the launch tray, and the launch drive stretches the launch rubber band. When the launch drive releases the launch rubber band, its kinetic energy is released, causing the launch tray to slide forward rapidly, propelling the ring quickly. Because of the launch angle between the launch tray and the launch drive, the collision between the tray and the ring occurs from the bottom, preventing the tray from colliding with the ring's sidewalls. This prevents the ring from deforming significantly during launch due to sidewall collisions. Furthermore, the launch angle ensures that the ring detaches from the launch tray instantly when it detaches due to inertia, preventing the ring from sliding on the tray for extended periods and consuming its kinetic energy, thus avoiding any impact on the final launch effect.

[0012] Furthermore, the launch drive device includes a launch base, a launch connector, a first elastic band adjustment assembly, a second elastic band adjustment assembly, and an elastic band winding wheel assembly. The launch connector is mounted on the gimbal, one end of the launch base is located at one end of the launch connector, and the other end of the launch base extends upwards to the other end of the launch connector, forming a launch angle between the other end of the launch base and the launch connector. First elastic band adjustment assemblies are provided on both sides of the launch base, and the second elastic band adjustment assembly is located at the center of the launch base. An elastic band winding wheel assembly is provided at the other end of the launch base. One end of the launch elastic band is fixed to one side of the other end of the launch base, and the other end of the launch elastic band sequentially passes through the first elastic band adjustment assembly, the elastic band winding wheel assembly, the second elastic band adjustment assembly, the elastic band winding wheel assembly, and the first elastic band adjustment assembly on the other side of the launch base before being fixed to the other side of the launch base. A launch tray is provided on the second elastic band adjustment assembly, and the launch angle between the launch tray and the second elastic band adjustment assembly is 15°. This configuration, through the setting of the first and second rubber band adjustment components, allows the elasticity of the launching rubber band to be adjusted, thereby improving the launching effect of the launching rubber band.

[0013] The first rubber band adjustment assembly includes a first rubber band adjustment motor, a first rubber band adjustment screw, and a first rubber band adjustment slider. The first rubber band adjustment motor is located at one end of the launching base. One end of the first rubber band adjustment screw is connected to the first rubber band adjustment motor, and the other end of the first rubber band adjustment screw is rotatably located at the other end of the launching base via a first screw bearing seat. A first rubber band adjustment slider is provided on the first rubber band adjustment screw, and a first rubber band adjustment roller is provided on the first rubber band adjustment slider. The other end of the launching rubber band is wound around the first rubber band adjustment roller. Thus, by driving the first rubber band adjustment screw to rotate via the first rubber band adjustment motor, the first rubber band adjustment roller on the first rubber band adjustment slider can be moved, thereby stretching the launching rubber band. The first rubber band adjustment screw allows for small-amplitude elasticity adjustment of the launching rubber band, thereby improving launching accuracy.

[0014] The second rubber band adjustment assembly includes a second rubber band adjustment motor, a second rubber band adjustment chain, a second rubber band adjustment drive sprocket, a second rubber band adjustment driven sprocket, a second rubber band adjustment base plate, and a second rubber band adjustment roller. The second rubber band adjustment motor is located at the bottom of one end of the launching base. The second rubber band adjustment drive sprocket is mounted on the drive shaft of the second rubber band adjustment motor. The second rubber band adjustment driven sprocket is located at the bottom of the other end of the launching base. The second rubber band adjustment chain is wound between the first rubber band adjustment drive sprocket and the second rubber band adjustment driven sprocket. A launching guide rail is located in the middle of the launching base. The second rubber band adjustment base plate is slidably mounted on the launching guide rail via a rubber band adjustment slider. Second rubber band adjustment rollers are located at both ends of the second rubber band adjustment base plate. The other end of the launching rubber band is wound around the second rubber band adjustment roller. A launching tray is located above the second rubber band adjustment base plate. A release slider is located on the second rubber band adjustment base plate. A release limit block corresponding to the release slider is located on the second rubber band adjustment chain. The second rubber band adjustment chain drives the release limit block to push the release slider into place.

[0015] The above setup involves moving the second elastic band adjusting chain via the second elastic band adjusting motor, which in turn moves the second elastic band adjusting base, thereby stretching the launching elastic band and allowing for further adjustment of the launching elastic band's elasticity.

[0016] Furthermore, the rubber band winding wheel assembly includes a first rubber band winding wheel, a second rubber band winding wheel, a third rubber band winding wheel, a fourth rubber band winding wheel, a fifth rubber band winding wheel, and a sixth rubber band winding wheel. The first, second, third, fourth, fifth, and sixth rubber band winding wheels are arranged sequentially from one side of the launching base and extend to the other side of the launching base. One end of the launching rubber band is fixed to one side of the other end of the launching base, and the other end of the launching rubber band sequentially passes around the first rubber band adjusting roller, the first rubber band winding wheel, the second rubber band winding wheel, the second rubber band adjusting roller at one end of the second rubber band adjusting base plate, the third rubber band winding wheel, the fourth rubber band winding wheel, the second rubber band adjusting roller at the other end of the second rubber band adjusting base plate, the fifth rubber band winding wheel, the sixth rubber band winding wheel, and the first rubber band adjusting roller at the other side of the launching base before connecting to the other side of the other end of the launching base.

[0017] The above configuration allows for greater adjustment of the elasticity of the launching rubber band by winding it back and forth between the two ends of the launching base, and also facilitates the adjustment of the launching rubber band by the two rubber band adjustment components.

[0018] Furthermore, a release device is provided on the launch base. The release device includes a release adjustment assembly and a release drive plate. A release groove is provided on the second elastic band adjustment base plate. The release slider is slidably disposed in the release groove. A release baffle is provided at the top of the release slider. The cross-sectional area of ​​the release baffle is larger than the cross-sectional area of ​​the release groove. The release slider corresponds to the release limiting block. The release adjustment assembly is disposed at the bottom of the launch base. A release drive plate is provided on the release adjustment assembly. The release drive plate corresponds to the release slider. An inclined surface is provided at one end of the release drive plate, extending upward and backward from the bottom of the release drive plate. The release slider moves along the inclined surface. When the release slider moves to the top of the inclined surface, the release slider disengages from the release limiting block.

[0019] With this configuration, when the second rubber band adjusting assembly stretches the launching rubber band, the release limit block blocks the release slider, preventing the second rubber band adjusting base plate from moving forward. The second rubber band adjusting chain moves, causing the release limit block to drive the release slider to move along the inclined surface. When the release slider moves to the top of the inclined surface, it disengages from the release limit block, thus releasing the restriction on the second rubber band adjusting base plate. As a result, the launching tray on the second rubber band adjusting base plate can be launched by the release elasticity of the launching rubber band.

[0020] Furthermore, there are two release adjustment components, one of which is located at one end of the launch base and the other at the other end of the launch base. Each release adjustment component includes a release adjustment motor and a release adjustment connecting plate. The release adjustment motor is located at the bottom of the launch base. The release adjustment connecting plate is located on the drive shaft of the release adjustment motor, and a release drive plate is located on the release adjustment connecting plate. The release adjustment motor drives the release drive plate to swing up and down.

[0021] With this configuration, by setting two release adjustment components located at different positions on the launching base, the elastic force can be adjusted. When the elastic force needs to be adjusted, one of the release adjustment motors drives the release adjustment connecting plate to swing, thereby causing the release drive plate to swing up and down and disengage from the position of the second rubber band adjustment chain. This prevents the release drive plate from contacting the release slider, allowing the release device to release the launching rubber band through the other release adjustment component.

[0022] Furthermore, a buffer assembly is provided at the other end of the launch base. This buffer assembly includes a buffer spring and a buffer rod. A buffer mounting plate is also located at the other end of the launch base, with a buffer through-hole on the mounting plate. The buffer rod is positioned within the buffer through-hole, and one end of the rod has a buffer cap. A buffer spring is positioned between the buffer cap and the buffer mounting plate, and the buffer cap is in contact with the second elastic band adjusting base plate. Through this buffer assembly, when the elastic band is released, the launch tray slides forward rapidly along the launch guide rail. When the second elastic band adjusting base plate touches the buffer cap, the buffer spring cushions the second elastic band adjusting base plate, thus preventing it from directly colliding with the other end of the launch base and causing structural damage.

[0023] Furthermore, the clamping device includes a clamping mounting frame, an angle adjustment module, a tensioning component, 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. 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, causing the ring to deform and thus achieve fixation.

[0024] 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.

[0025] The tensioning assembly includes a tensioning base plate, a tensioning claw plate, and a tensioning connecting rod. The tensioning base plate is mounted on a gripping bracket. One end of the tensioning connecting rod is hinged to the tensioning base plate, and the other end is hinged to the tensioning claw plate. The tensioning connecting rod is located at the top and bottom of the tensioning base plate. The tensioning claw plate and the tensioning base plate are interconnected by the tensioning connecting rod to form a parallelogram linkage structure. A tension limiting plate is provided at the top of the tensioning base plate to restrict the swinging of the tensioning connecting rod located at the top of the tensioning base plate. A buffer pad is provided at the bottom of the tensioning claw plate.

[0026] With this configuration, when it is necessary to fix the rings, the tensioning component is driven by the lifting module to extend into the stacked rings. At the same time, the tensioning component continues to move downward and contact the ground, and continues to move downward. This causes the tensioning claw plate to move upward through the reaction force. Since the tensioning claw plate and the tensioning base plate are connected to each other through the tensioning connecting rod to form a parallelogram linkage structure, the tensioning claw plate expands outward while moving upward. This opens up the rings and squeezes them internally, thereby achieving the gripping of stacked rings. The structure is simple and effective.

[0027] Furthermore, the bottom of the tension limiting plate is hinged to the tensioning base plate. A tension limiting groove extends downwards in an arc from the top of the tensioning base plate. A tension limiting rod is located at the top of the tension limiting plate and moves within the tension limiting groove. A pawl is located at the bottom of the tension limiting plate, and a corresponding slot is provided on the side wall of the tensioning connecting rod. A tension limiting spring is located on one side of the bottom of the tension limiting plate, with one end connected to the tension limiting plate and the other end connected to the top of the tensioning base plate. The tension limiting spring pulls the pawl against the wall of the slot.

[0028] With this configuration, as the tensioning claw plate moves upward, the position of the slot on the tensioning connecting rod will rotate along with the tensioning connecting rod. When the slot rotates to the position of the pawl, the pawl engages in the slot, and at the same time, the tensioning limit spring pulls the pawl against the wall of the slot, thus preventing the tensioning connecting rod from swinging, thereby fixing the tensioning claw plate to the ring.

[0029] 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.

[0030] Furthermore, a guide surface extending inclined towards the slot is provided at the top of the tensioning connecting rod, and the pawl slides along the guide surface towards the slot. This design facilitates better sliding of the pawl into the slot via the guide surface. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the ring-dropping robot of the present invention.

[0032] Figure 2 This is a side view of the launching mechanism of the present invention.

[0033] Figure 3 This is a schematic diagram of the launching mechanism of the present invention.

[0034] Figure 4 This is a schematic diagram of the structure of the first elastic band adjustment component of the present invention.

[0035] Figure 5 This is a schematic diagram of the structure of the second elastic band adjustment component of the present invention.

[0036] Figure 6 for Figure 3 Enlarged view of point A in the middle.

[0037] Figure 7 A schematic diagram of the bottom of the transmitter base of the present invention.

[0038] Figure 8 This is a schematic diagram of the release device of the present invention.

[0039] Figure 9 for Figure 5 Enlarged view of point B in the middle.

[0040] Figure 10 This is a schematic diagram of the transport mechanism of the present invention.

[0041] Figure 11 This is a schematic diagram of the clamping device of the present invention.

[0042] Figure 12 This is a schematic diagram of the tensioning component of the present invention in the retracted state.

[0043] Figure 13 This is a schematic diagram of the tensioning component of the present invention in the open state.

[0044] Figure 14 This is a schematic diagram of the push component of the present invention. Detailed Implementation

[0045] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0046] like Figures 1 to 14As shown, a ring-throwing robot includes a frame 1, on which a moving module 11, a launching mechanism 2, and a transporting mechanism 3 are mounted. 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 transporting 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 here.

[0047] The launching mechanism 2 includes a launching drive device 4, a launching tray 21, and a launching rubber band 22. The launching drive device 4 is located at one end of the gimbal. The launching rubber band 22 is provided on the launching drive device 4, and the launching tray 21 is provided on the launching rubber band 22. The launching drive device 4 drives the launching rubber band 22 to be stretched. The rear end of the launching tray 21 extends forward and downward to the front end. A launching angle α is formed between the launching tray 21 and the launching drive device 4. In this embodiment, the launching angle is 15°.

[0048] like Figure 3 As shown, the launch drive device 4 includes a launch base 41, a launch connector 42, a first elastic band adjustment assembly 43, a second elastic band adjustment assembly 44, and an elastic band winding wheel assembly 45. The launch connector 42 is mounted on the gimbal. One end of the launch base 41 is located at one end of the launch connector 42, and the other end of the launch base 41 extends upward at an angle to the other end of the launch connector 42, forming a launch angle between the other end of the launch base 41 and the launch connector 42. The first elastic band adjustment assembly 43 and the second elastic band adjustment assembly 44 are provided on both sides of the launch base 41. Component 44 is positioned at the center of the launching base 41. A rubber band winding wheel assembly 45 is located at the other end of the launching base 41. One end of the launching rubber band 22 is fixed to one side of the other end of the launching base 41. The other end of the launching rubber band 22 sequentially passes through a first rubber band adjusting assembly 43, a rubber band winding wheel assembly 45, a second rubber band adjusting assembly 44, and another rubber band winding wheel assembly 45 located on one side of the launching base 41, and is then fixed to the other side of the launching base 41. A launching tray 21 is provided on the second rubber band adjusting assembly 44. This configuration, through the first rubber band adjusting assembly 43 and the second rubber band adjusting assembly 44, allows for adjustment of the elasticity of the launching rubber band 22, thereby improving its launching effect.

[0049] like Figure 3 and Figure 4As shown, the first rubber band adjustment assembly 43 includes a first rubber band adjustment motor 431, a first rubber band adjustment screw 432, and a first rubber band adjustment slider 433. The first rubber band adjustment motor 431 is disposed at one end of the launching base 41. One end of the first rubber band adjustment screw 432 is connected to the first rubber band adjustment motor 431, and the other end of the first rubber band adjustment screw 432 is rotatably disposed at the other end of the launching base 41 through a first screw bearing seat 434. The first rubber band adjustment slider 433 is provided on the first rubber band adjustment screw 432, and the first rubber band adjustment roller 435 is provided on the first rubber band adjustment slider 433. The other end of the launching rubber band 22 is wound around the first rubber band adjustment roller 435. With this configuration, the first rubber band adjusting motor 431 drives the first rubber band adjusting screw 432 to rotate, which in turn drives the first rubber band adjusting roller 435 mounted on the first rubber band adjusting slider 433 to move, thereby stretching the launching rubber band 22. The first rubber band adjusting screw 432 makes a small adjustment to the elasticity of the launching rubber band 22, thereby improving the launching accuracy.

[0050] like Figure 3 and Figure 5 As shown, the second rubber band adjustment assembly 44 includes a second rubber band adjustment motor 441, a second rubber band adjustment chain 442, a second rubber band adjustment drive sprocket 443, a second rubber band adjustment driven sprocket 444, a second rubber band adjustment base plate 445, and a second rubber band adjustment roller 446. The second rubber band adjustment motor 441 is located at the bottom of one end of the launching base 41. The second rubber band adjustment drive sprocket 443 is mounted on the drive shaft of the second rubber band adjustment motor 441. The second rubber band adjustment driven sprocket 444 is located at the bottom of the other end of the launching base 41. The second rubber band adjustment chain 442 is wound around the first rubber band adjustment drive sprocket 443 and the second rubber band adjustment driven sprocket 444. Between them, a launch guide rail 411 is provided in the middle of the launch base 41, and the second rubber band adjusting base plate 445 is slidably disposed on the launch guide rail 411 via a rubber band adjusting slider 4451. Second rubber band adjusting rollers 446 are provided at both ends of the second rubber band adjusting base plate 445, and the other end of the launch rubber band 22 is wound around the second rubber band adjusting rollers 446. A launch tray 22 is provided above the second rubber band adjusting base plate 445. A release slide is provided on the second rubber band adjusting base plate, and a release limiting block 460 corresponding to the release slide is provided on the second rubber band adjusting chain 442. The second rubber band adjusting chain 442 drives the release limiting block 460 to push the release slide in place.

[0051] The above configuration involves the second elastic band adjusting motor 441 driving the second elastic band adjusting chain 442 to move, thereby moving the second elastic band adjusting base 445, which in turn stretches the launching elastic band, allowing for further adjustment of the elasticity of the launching elastic band.

[0052] like Figures 3-6 As shown, the rubber band winding wheel assembly 45 includes a first rubber band winding wheel 451, a second rubber band winding wheel 452, a third rubber band winding wheel 453, a fourth rubber band winding wheel 454, a fifth rubber band winding wheel 455, and a sixth rubber band winding wheel 456. These wheels are arranged sequentially from one side of the launching base 41 to the other side. One end of the launching rubber band 22 is fixed to the other side of the launching base 41. On one side of the launcher 22, the other end of the launcher 22 passes in sequence around the first elastic band adjusting roller 435, the first elastic band winding roller 451, the second elastic band winding roller 451, the second elastic band adjusting roller 446 at one end of the second elastic band adjusting base plate 445, the third elastic band winding roller 453, the fourth elastic band winding roller 454, the second elastic band adjusting roller 446 at the other end of the second elastic band adjusting base plate 445, the fifth elastic band winding roller 455, the sixth elastic band winding roller 456, and the first elastic band adjusting roller 435 on the other side of the launcher 41, and is then connected to the other side of the other end of the launcher 41.

[0053] The above configuration allows the elasticity of the launching rubber band 22 to be adjusted to a greater extent by winding the launching rubber band 22 back and forth at both ends of the launching base 41, and also facilitates the adjustment of the launching rubber band by the two rubber band adjustment components.

[0054] like Figures 7-9 As shown, a release device 46 is also provided on the launch base 41. The release device includes a release adjustment assembly 461 and a release drive plate 462. A release groove 463 is provided on the second elastic band adjustment base plate 445. The release slide bar 464 is slidably disposed in the release groove 463. A release baffle (not shown in the figure) is provided at the top of the release slide bar 464. The cross-sectional area of ​​the release baffle is larger than the cross-sectional area of ​​the release groove 463. The release slide bar 464 corresponds to the release limiting block 460. An adjustment assembly 461 is disposed at the bottom of the launch base 41; a release drive plate 462 is provided on the release adjustment assembly 461, the release drive plate 462 corresponds to the release slide bar 464, and an inclined surface 4621 is provided at one end of the release drive plate 462, which extends upward and backward from the bottom of the release drive plate 462. The release slide bar 464 is moved along the inclined surface 4621. When the release slide bar 464 moves to the top of the inclined surface 4621, the release slide bar 464 is disengaged from the release limit block 460.

[0055] Thus, when the second rubber band adjusting assembly 44 stretches the launching rubber band 22 via the release device, the release limiting block 460 blocks the release slider 464, preventing the second rubber band adjusting base plate 445 from moving forward. The second rubber band adjusting chain 442 moves, causing the release limiting block 460 to drive the release slider 464 to move along the inclined surface. When the release slider 464 moves to the top of the inclined surface 4621, it disengages from the release limiting block 460. As a result, the release device 46 can release the restriction on the second rubber band adjusting base plate 445, and the launching tray 22 provided on the second rubber band adjusting base plate 445 can be launched by the release elastic force of the launching rubber band 22.

[0056] like Figure 8 The release adjustment assembly 641 shown has two components, one of which, 461, is located at one end of the launch base 41, and the other is located at the other end of the launch base 41. The release adjustment assembly 461 includes a release adjustment motor 4611 and a release adjustment connecting plate 4612. The release adjustment motor 4611 is located at the bottom end of the launch base 41. The release adjustment connecting plate 4612 is located on the drive shaft of the release adjustment motor 4611, and a release drive plate 462 is located on the release adjustment connecting plate 4612. The release adjustment motor 4611 drives the release drive plate 462 to swing up and down.

[0057] With this configuration, by setting two release adjustment components 461, and the two release adjustment components 461 being located at different positions on the launching base 41, the magnitude of the elastic force can be adjusted. When the magnitude of the elastic force needs to be adjusted, it is only necessary to drive the release adjustment 462 connecting plate to swing through one of the release adjustment motors 4611, thereby swinging the release drive plate 462 up and down to disengage it from the position of the second rubber band adjustment chain 422. This ensures that the release drive plate 422 will not contact the release slide bar 464, so that the release device 46 can release the launching rubber band 22 through the other release adjustment component 461.

[0058] like Figure 3 and Figure 6As shown, a buffer assembly 47 is also provided at the other end of the launch base 41. The buffer assembly 47 includes a buffer spring and a buffer rod 472. A buffer mounting plate 473 is provided at the other end of the launch base 41. A buffer through hole (not shown in the figure) is provided on the buffer mounting plate 473. The buffer rod 472 is disposed in the buffer through hole. A buffer cap (not shown in the figure) is provided at one end of the buffer rod 472. A buffer spring (not shown in the figure) is provided between the buffer cap and the buffer mounting plate 473. The buffer cap is in contact with the second elastic band adjusting base plate 445. With the setting of the buffer assembly 47, when the elastic band is released, the launch tray 22 slides forward quickly along the launch guide rail. When the second elastic band adjusting base plate 445 touches the buffer cap, the buffer spring buffers the second elastic band adjusting base plate 445, thereby preventing the second elastic band adjusting base plate 445 from directly colliding with the other end of the launch base 41 and causing damage to the structure of the launch base 41.

[0059] like Figure 10 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.

[0060] like Figure 11 As shown, the clamping device 5 includes a clamping mounting frame 51, an angle adjustment module 52, a tensioning component 53, 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. The tensioning component 53 is located below the clamping bracket 55, and the pushing component 54 is 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.

[0061] With this configuration, the tensioning component 53 extends into the stacked rings 01 (e.g., Figure 11The 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.

[0062] like Figures 11-13 As shown, the tensioning assembly 53 includes a tensioning base plate 531, a tensioning claw plate 532, and a tensioning connecting rod 533. The tensioning base plate 531 is mounted on the clamping bracket 55. One end of the tensioning connecting rod 533 is hinged to the tensioning base plate 531, and the other end is hinged to the tensioning claw plate 532. The tensioning connecting rod 533 is located at the top and bottom ends of the tensioning base plate 531. The tensioning claw plate 532 and the tensioning base plate 531 are interconnected by the tensioning connecting rod 533 to form a parallelogram linkage structure (in...). Figure 13 As shown in the figure, a tension limiting plate 534 is provided at the top of the tensioning base plate 531, which restricts the swinging of the tensioning connecting rod 533 located at the top of the tensioning base plate 531; a buffer pad 5321 is provided at the bottom of the tensioning claw plate 532. In this embodiment, three tensioning components are provided and arranged in a ring on the clamping bracket. The three tensioning components make the fixing of the ring more stable.

[0063] Therefore, when it is necessary to fix the rings, the tensioning component 53 is driven by the lifting module 33 to extend into the stacked rings, such as... Figure 12 As shown, the tensioning assembly is in the retracted state at this time. Simultaneously, the tensioning assembly 53 continues to move downwards and contacts the ground, continuing to move downwards. This causes the tensioning claw plate 532 to move upwards through a reaction force. Since the tensioning claw plate 532 and the tensioning base plate 531 are connected by a tensioning connecting rod 533 to form a parallelogram-shaped linkage structure, the tensioning claw plate 532 expands outwards while moving upwards. Figure 13 As shown, the tensioning component 53 is in the open state at this time, which allows the rings to be opened and internally compressed, thereby achieving the grasping of a stack of rings (e.g., Figure 11 As shown, the structure is simple and effective.

[0064] like Figure 13As shown, the bottom of the tension limiting plate 534 is hinged to the tension base plate 431. A tension limiting groove 5311 is provided at the top of the tension base plate 531, extending downwards in an arc shape. A tension limiting rod 5341 is provided at the top of the tension limiting plate 534, located within the tension limiting groove 5311 and movable within it. A tension limiting rod 5341 is provided at the bottom of the tension limiting plate 534. A pawl 5342 is provided, and a corresponding slot 5331 is provided on the side wall of the tensioning connecting rod 533. A tensioning limiting spring (not shown in the figure) is provided on one side of the bottom of the tensioning limiting plate 534. One end of the tensioning limiting spring is connected to the tensioning limiting plate 534, and the other end of the tensioning limiting spring is connected to the top of the tensioning base plate 531. The tensioning limiting spring 531 pulls the pawl 5342 to abut against the wall of the slot 5331.

[0065] As a result of this configuration, as the tensioning claw plate 532 moves upward, the position of the slot 5331 on the tensioning connecting rod 533 will rotate along with the tensioning connecting rod 533. When the slot 5331 rotates to the position of the pawl 5342, the pawl 5342 engages in the slot 5331. At the same time, the tensioning limit spring pulls the pawl 5342 against the wall of the slot 5331, thereby preventing the tensioning connecting rod 533 from swinging and thus fixing the ring with the tensioning claw plate 532.

[0066] like Figure 11 and Figure 14 As 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.

[0067] like Figure 12 and Figure 13 As shown, a guide surface 5330 extending obliquely towards the slot is provided at the top of the tensioning connecting rod 533, and the pawl 5342 slides along the guide surface 5330 towards the slot 5331. This arrangement allows the pawl 5342 to slide more easily into the slot 5331 via the guide surface 5330.

[0068] The working principle of this invention is as follows: By setting up a transport mechanism, the ring can be automatically clamped and transported, thereby reducing the workload of the participants. The mobile module allows the ring-throwing robot to move to different positions for throwing. When throwing the ring, the transport mechanism places the ring onto the launch tray. The launch drive device stretches the launch rubber band. When the launch drive device releases the launch rubber band, the kinetic energy of the launch rubber band is released, causing the launch tray to slide forward rapidly. The launch tray quickly pushes the ring out. Because there is a launch angle between the launch tray and the launch drive device, the collision between the launch tray and the ring occurs from the bottom, avoiding collisions between the launch tray and the side walls of the ring. This prevents the ring from colliding with the side walls during launch, thus preventing large deformations caused by collisions. Furthermore, the launch angle ensures that when the ring detaches from the launch tray due to inertia, it detaches instantly, preventing the ring from sliding on the launch tray for a long time, thus avoiding the loss of kinetic energy and affecting the final launch effect.

Claims

1. A ring-dropping robot, comprising a frame, characterized in that: The frame is equipped with a moving module, a launching mechanism and a transport 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 transport mechanism is located at the other end of the gimbal. The launching mechanism includes a launching drive device, a launching tray, and a launching rubber band. The launching drive device is located at one end of the gimbal, and a launching rubber band is provided on the launching drive device. A launching tray is provided on the launching rubber band. The launching drive device drives the launching rubber band to be stretched. The rear end of the launching tray extends forward and downward to the front end, forming a launching angle between the launching tray and the launching drive device. 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 set on the transport bracket. The clamping device is set on the transport lifting module. The transport moving module drives the transport lifting module to move horizontally. The transport lifting module drives the clamping device to move vertically. The clamping device clamps the ring and places it on the launch tray; The launch drive device includes a launch base, a launch connector, a first elastic band adjustment assembly, a second elastic band adjustment assembly, and an elastic band winding wheel assembly. The launch connector is mounted on a gimbal. One end of the launch base is located at one end of the launch connector, and the other end of the launch base extends upwards to the other end of the launch connector, forming a launch angle between the other end of the launch base and the launch connector. First elastic band adjustment assemblies are located on both sides of the launch base, and a second elastic band adjustment assembly is located at the center of the launch base. An elastic band winding wheel assembly is located at the other end of the launch base. One end of the launch elastic band is fixed to one side of the other end of the launch base, and the other end of the launch elastic band sequentially passes through the first elastic band adjustment assembly, the elastic band winding wheel assembly, the second elastic band adjustment assembly, the elastic band winding wheel assembly, and the first elastic band adjustment assembly on the other side of the launch base before being fixed to the other side of the launch base. A launch tray is provided on the second elastic band adjustment assembly, and the launch angle between the launch tray and the second elastic band adjustment assembly is 15°. The first rubber band adjustment assembly includes a first rubber band adjustment motor, a first rubber band adjustment screw, and a first rubber band adjustment slider. The first rubber band adjustment motor is disposed at one end of the launching base. One end of the first rubber band adjustment screw is connected to the first rubber band adjustment motor. The other end of the first rubber band adjustment screw is rotatably disposed at the other end of the launching base through a first screw bearing seat. A first rubber band adjustment slider is provided on the first rubber band adjustment screw, and a first rubber band adjustment roller is provided on the first rubber band adjustment slider. The other end of the launching rubber band is wound around the first rubber band adjustment roller. The second rubber band adjustment assembly includes a second rubber band adjustment motor, a second rubber band adjustment chain, a second rubber band adjustment drive sprocket, a second rubber band adjustment driven sprocket, a second rubber band adjustment base plate, and a second rubber band adjustment roller. The second rubber band adjustment motor is located at the bottom of one end of the launching base. The second rubber band adjustment drive sprocket is mounted on the drive shaft of the second rubber band adjustment motor. The second rubber band adjustment driven sprocket is located at the bottom of the other end of the launching base. The second rubber band adjustment chain is wound between the first rubber band adjustment drive sprocket and the second rubber band adjustment driven sprocket. A launching guide rail is located in the middle of the launching base. The second rubber band adjustment base plate is slidably mounted on the launching guide rail via a rubber band adjustment slider. Second rubber band adjustment rollers are located at both ends of the second rubber band adjustment base plate. The other end of the launching rubber band is wound around the second rubber band adjustment roller. A launching tray is located above the second rubber band adjustment base plate. A release slider is located on the second rubber band adjustment base plate. A release limit block corresponding to the release slider is located on the second rubber band adjustment chain. The second rubber band adjustment chain drives the release limit block to push the release slider into place.

2. The ring-dropping robot according to claim 1, characterized in that: The rubber band winding wheel assembly includes a first rubber band winding wheel, a second rubber band winding wheel, a third rubber band winding wheel, a fourth rubber band winding wheel, a fifth rubber band winding wheel, and a sixth rubber band winding wheel. The first, second, third, fourth, fifth, and sixth rubber band winding wheels are arranged sequentially from one side of the launching base and extend to the other side of the launching base. One end of the launching rubber band is fixed to one side of the other end of the launching base, and the other end of the launching rubber band sequentially passes around the first rubber band adjusting roller, the first rubber band winding wheel, the second rubber band winding wheel, the second rubber band adjusting roller at one end of the second rubber band adjusting base plate, the third rubber band winding wheel, the fourth rubber band winding wheel, the second rubber band adjusting roller at the other end of the second rubber band adjusting base plate, the fifth rubber band winding wheel, the sixth rubber band winding wheel, and the first rubber band adjusting roller at the other side of the launching base before connecting to the other side of the other end of the launching base.

3. The ring-dropping robot according to claim 1, characterized in that: A release device is also provided on the launch base. The release device includes a release adjustment assembly and a release drive plate. A release groove is provided on the second elastic band adjustment base plate. The release slide is slidably disposed in the release groove. A release baffle is provided at the top of the release slide. The cross-sectional area of ​​the release baffle is larger than the cross-sectional area of ​​the release groove. The release slide corresponds to the release limiting block. The release adjustment assembly is disposed at the bottom of the launch base. A release drive plate is provided on the release adjustment assembly. The release drive plate corresponds to the release slide. An inclined surface is provided at one end of the release drive plate, extending upward and backward from the bottom of the release drive plate. The release slide moves along the inclined surface. When the release slide moves to the top of the inclined surface, the release slide disengages from the release limiting block.

4. The ring-dropping robot according to claim 3, characterized in that: The release adjustment assembly is provided in two parts, with one part located at one end of the launch base and the other part located at the other end of the launch base. The release adjustment assembly includes a release adjustment motor and a release adjustment connecting plate. The release adjustment motor is located at the bottom end of the launch base. The release adjustment connecting plate is located on the drive shaft of the release adjustment motor, and a release drive plate is located on the release adjustment connecting plate. The release adjustment motor drives the release drive plate to swing up and down.

5. The ring-dropping robot according to claim 1, characterized in that: A buffer assembly is also provided at the other end of the launch base. The buffer assembly includes a buffer spring and a buffer rod. A buffer mounting plate is provided at the other end of the launch base. A buffer through hole is provided on the buffer mounting plate. The buffer rod is disposed in the buffer through hole. A buffer cap is provided at one end of the buffer rod. A buffer spring is provided between the buffer cap and the buffer mounting plate. The buffer cap is in contact with the second rubber band adjustment base plate.

6. The ring-dropping robot according to claim 1, characterized in that: The clamping device includes a clamping mounting frame, an angle adjustment module, a tensioning component, 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 has a clamping bracket on it. The angle adjustment module drives the clamping bracket to swing up and down. The tensioning component is located below the clamping bracket, and the clamping bracket has a pushing component on it. 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. The tensioning assembly includes a tensioning base plate, a tensioning claw plate, and a tensioning connecting rod. The tensioning base plate is mounted on a gripping bracket. One end of the tensioning connecting rod is hinged to the tensioning base plate, and the other end is hinged to the tensioning claw plate. The tensioning connecting rod is located at the top and bottom of the tensioning base plate. The tensioning claw plate and the tensioning base plate are interconnected by the tensioning connecting rod to form a parallelogram linkage structure. A tension limiting plate is provided at the top of the tensioning base plate to restrict the swinging of the tensioning connecting rod located at the top of the tensioning base plate. A buffer pad is provided at the bottom of the tensioning claw plate.

7. A ring-dropping robot according to claim 6, characterized in that: The bottom of the tension limiting plate is hinged to the tensioning base plate. A tension limiting groove extends downwards in an arc from the top of the tensioning base plate. A tension limiting rod is located at the top of the tension limiting plate and moves within the tension limiting groove. A pawl is located at the bottom of the tension limiting plate, and a corresponding slot is located on the side wall of the tensioning connecting rod. A tension limiting spring is located on one side of the bottom of the tension limiting plate, with one end connected to the tension limiting plate and the other end connected to the top of the tensioning base plate. The tension limiting spring pulls the pawl against the wall of the slot.

8. A ring-dropping robot 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 ring-dropping robot according to claim 7, characterized in that: The top of the tensioning connecting rod has a guide surface that extends at an inclination towards the slot, and the pawl slides along the guide surface into the slot.

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