Launching arm and casting device

Abstract

The invention discloses a launching arm and a casting device, and relates to the technical field of casting equipment, and the launching arm comprises a launching seat, a launching slide rail, a rubber band, a driving motor, a transmission assembly and a dispenser. The launching seat is provided with a bullet cavity which is used for accommodating a launched object; the launching seat is in sliding contact with the launching sliding rail; the two ends of the rubber band are fixedly arranged, and the middle of the rubber band is connected with the launching seat; the transmission assembly is in transmission connection with the driving motor, and the transmission assembly is configured to transmit power of the driving motor to the launching base and overcome the elastic force of the rubber band to pull the launching base to the launching position for energy storage; and the release device is configured to clamp and release the launching seat at the launching position. Compared with a traditional spring and compressed gas energy storage mode, the rubber band energy storage mode is adopted to eject the launched object, the more stable ejection force is achieved, and the hitting precision can be improved easily. In addition, a launching sliding rail, a launching base and the like are designed to be matched for launching, so that the launching accuracy is higher.

Description

Technical Field

[0001] The invention relates to the technical field of projectile equipment, in particular to a launching arm and a projectile device. Background Art

[0002] Most of the existing long-range projectile equipment uses springs, compressed gas, friction wheels and other methods to store energy for launch. Although they have certain projectile capabilities, they have certain limitations in terms of hit accuracy, flexibility, and ease of adjustment. Due to elastic fatigue and vibration, the launch trajectory of spring launch may be offset, reducing the hit accuracy; and the force consistency is poor. The elastic force of the spring changes with the number of uses, making it difficult to keep the force consistent for each launch; the scope of application is limited, and the spring with fixed elastic force limits the launch device's ability to adapt to objects of different weights and distances. The friction wheel launch device has low accuracy, and the fluctuation of friction force leads to instability in the launch force and direction, reducing the hit accuracy; and the maintenance requirements are high: the wear of the friction wheel needs to be replaced regularly, which increases maintenance costs and downtime; the adaptability is poor. For projectiles of different materials and shapes, the friction wheel has poor adaptability and needs to be adjusted frequently to adapt. In order to improve the performance of long-range projectile equipment and meet the application needs of more scenarios, it is necessary to study a new type of long-range projectile equipment. Summary of the invention

[0003] The purpose of the present invention is to provide a launching arm and a projectile device to solve the problems existing in the above-mentioned prior art and improve the launching accuracy and stability.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a launching arm, comprising:

[0006] A launching base, which is provided with a bullet cavity, and the bullet cavity is used to accommodate a projectile;

[0007] A launching slide rail, wherein the launching seat is in sliding contact with the launching slide rail;

[0008] A rubber band, used to provide launching force, with both ends fixed and the middle portion connected to the launching base;

[0009] Drive motor;

[0010] A transmission assembly, the transmission assembly is in transmission connection with the drive motor, the transmission assembly is configured to transmit the power of the drive motor to the launch base and overcome the elastic force of the rubber band to pull the launch base to a launch position for energy storage; and

[0011] A releaser is configured to clamp and release the launching seat at the launching position.

[0012] Preferably, the transmission assembly includes a belt, a pulley and a loading slider; the pulley is drivingly connected to the drive motor, the belt is drivingly connected to the pulley, the belt is arranged on the side of the launching slide rail, the loading slider is connected to the belt, in an initial state, the rubber band is loose, the launching seat is located between the loading slider and the launching position, the driving motor can drive the loading slider to move toward the launching position and drive the launching seat to move to the launching position; after the launching seat is stuck by the releaser, the driving motor can drive the loading slider to move in a direction away from the launching seat.

[0013] Preferably, a belt is provided on both sides of the launching slide rail, and the two belts are driven by the same driving motor.

[0014] Preferably, it also includes two rubber pulleys; the two rubber pulleys are respectively arranged on both sides of the launching slide rail, the fixing parts at both ends of the rubber band and the launching position are located on the same side of the rubber pulley, and the two rubber pulleys are located in the area enclosed by the rubber band.

[0015] Preferably, it also includes a deceleration rubber band and two deceleration rubber band fixing seats, the two deceleration rubber band fixing seats are located on the side of the rubber band pulley away from the launching position, the two deceleration rubber band fixing seats are respectively located on both sides of the launching slide rail, and the two ends of the deceleration rubber band are respectively fixed to the two deceleration rubber band fixing seats, and in the launching state, the deceleration rubber band is located on the moving trajectory of the launching seat but not on the launching trajectory of the projectile.

[0016] Preferably, the bullet cavity has a bottom surface, two side surfaces and a back surface, the top of the bullet cavity is a projectile inlet, and the front surface is a launch port.

[0017] The present invention provides a projectile device, comprising a base, a launch angle adjustment device, a bullet feeding device and the launch arm as described above, wherein the launch angle adjustment device can adjust the pitch and yaw angles of the launch arm; and the bullet feeding device can feed bullets into the bullet cavity of the launch arm.

[0018] Preferably, one end of the launch arm is rotatably arranged on the base around a vertical axis and a horizontal axis, and the launch angle adjustment device includes a pitch adaptation slide plate, an adapter, a bearing seat, a yaw axis adapter plate, a yaw axis, a yaw outer ring, a yaw axis auxiliary bottom plate, a yaw nut seat, a yaw screw rod, a yaw motor, a transverse rod, a longitudinal rod, a pitch screw rod, a pitch motor and a pitch nut seat;

[0019] The pitch adapting slide plate is slidably arranged on the launching arm along the length direction of the launching arm, the adapter is fixedly connected to the pitch adapting slide plate, the adapter is rotatably connected to the bearing seat through a horizontal tube, the bearing seat is fixedly connected to the yaw axis adapter plate, the yaw axis adapter plate is fixedly connected to the yaw axis, the yaw axis is vertically arranged, the yaw axis is rotatably connected to the yaw outer ring around its own axis, the yaw outer ring is fixedly connected to the yaw axis auxiliary bottom plate, and the yaw axis auxiliary bottom plate is horizontally arranged, The yaw axis auxiliary base plate is fixedly connected to the nut seat, the nut seat is threadedly connected to the yaw screw, the nut seat is in contact with the transverse rod and the contact surface is a plane, the yaw screw is rotatably connected to the screw seat fixing plate, the yaw motor is fixedly connected to the screw seat fixing plate, the screw seat fixing plate is slidably arranged on the longitudinal rod along the vertical direction, the screw seat is fixedly connected to the pitch nut seat, the pitch screw is threadedly connected to the pitch nut seat, and the pitch motor is transmission connected to the pitch screw.

[0020] Preferably, the base is a Mecanum wheel chassis.

[0021] Preferably, each Mecanum wheel in the Mecanum wheel chassis is equipped with an independent suspension.

[0022] Compared with the prior art, the present invention has achieved the following technical effects:

[0023] The present invention adopts rubber band energy storage to eject projectiles, which has a more stable ejection force and helps to improve the accuracy of hitting compared with the traditional spring and compressed gas energy storage methods. In addition, the launch slide rail, launch seat and other aspects are designed to cooperate with the launch, so that the launch accuracy is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the structure of a projectile device provided in an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the structure of a launch arm provided in an embodiment of the present invention;

[0027] Figure 3 for Figure 2Schematic diagram of the structure of some components;

[0028] Figure 4 It is a structural schematic diagram of a launch arm and a launch angle adjustment device (the pitch screw rod, the pitch motor and the pitch nut seat are not shown in the figure, and the pitch screw rod, the pitch motor and the pitch nut seat can adopt the arrangement described in the specific embodiment);

[0029] Figure 5 for Figure 4 A view from another angle;

[0030] Figure 6 Schematic diagram of the structure of the launch angle adjustment device (the pitch screw rod, the pitch motor and the pitch nut seat are not shown in the figure, and the pitch screw rod, the pitch motor and the pitch nut seat can adopt the arrangement described in the specific embodiment);

[0031] Figure 7 It is a schematic diagram of the structure of the launch base;

[0032] Figure 8 is a schematic diagram of the structure of the launch arm in the stage of preparing for launch;

[0033] Fig. 9 is a schematic diagram of the structure of the launch arm in the launching process;

[0034] Fig.10 is a schematic diagram of the structure of the launch arm after the launch is completed;

[0035] In the figure: 1-launching slide rail; 2-launching seat; 3-release device mounting seat; 4-rubber band fixing piece; 5-driving motor; 6-belt; 7-rubber band pulley; 8-pulley; 9-loading slide block; 10-launching tube; 11-projectile; 12-longitudinal rod; 13-transverse rod; 14-yaw nut seat; 15-yaw screw rod; 16-bearing seat; 17-adapter; 18-yaw axis auxiliary bottom plate; 19-yaw motor; 20-yaw axis adapter plate; 21-yaw outer ring; 22-pitch adaptation slide plate; 23-side winding column; 24-bottom block; 25-rear positioning column; 26-limiting plate; 27-Mecanum wheel; 28-rubber band; 29-deceleration rubber band; 30-deceleration rubber band fixing seat; 100-launching arm; 200-launching angle adjustment device; 300-base; 400-feeding device. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] The present invention provides a launching arm 100, such as Figures 1 to 10 As shown, it includes: a launch base 2, a launch slide 1, a rubber band 28, a drive motor 5, a transmission assembly and a release device. The launch base 2 is configured with a bullet chamber for accommodating a projectile 11; the launch base 2 is in sliding contact with the launch slide 1; the rubber band 28 is used to provide a launch force, and is fixed at both ends and connected to the launch base 2 in the middle; the transmission assembly is in transmission connection with the drive motor 5, and the transmission assembly is configured to transmit the power of the drive motor 5 to the launch base 2 and overcome the elastic force of the rubber band 28 to pull the launch base 2 to the launch position for energy storage; the release device is configured to clamp and release the launch base 2 at the launch position.

[0039] The rubber band 28 can be a two-stage type, that is, one end of each rubber band is fixedly connected, and the other end is connected to the launch base 2, and each rubber band can be composed of multiple rubber bands to adjust the launch force. It can also be a one-stage type, and the middle part of the rubber band at one end is connected to the launch base 2. The rubber band at one end can also be composed of multiple rubber bands.

[0040] The present invention adopts the rubber band 28 energy storage method to eject the projectile 11, which has a more stable ejection force and helps to improve the hit accuracy compared with the traditional spring and compressed gas energy storage method. In addition, the launch slide 1, the launch seat 2 and the like are designed to cooperate with the launch, so that the launch accuracy is higher.

[0041] The embodiments of the present invention can be extended to apply to military, rescue, entertainment and other fields, and have high practical value.

[0042] In some embodiments, the release device is mounted on a release device mounting base 3 behind the launch position.

[0043] In some embodiments, the transmission assembly includes a belt 6, a pulley 8 and a loading slider 9; the pulley 8 is transmission-connected to the drive motor 5, the belt 6 is transmission-connected to the pulley 8, the belt 6 is arranged on the side of the launching slide rail 1, the loading slider 9 is connected to the belt 6, in the initial state, the rubber band 28 is loose, the launching seat 2 is located between the loading slider 9 and the launching position, the driving motor 5 can drive the loading slider 9 to move toward the launching position and drive the launching seat 2 to move to the launching position; after the launching seat 2 is stuck by the releaser, the driving motor 5 can drive the loading slider 9 to move in the direction away from the launching seat 2.

[0044] This embodiment utilizes the belt 6 to drive the launching seat 2 and stretch the rubber band 28 to store energy, and then the launching seat 2 is clamped by the release device. After being clamped, the controller controls the driving motor 5 to drive the belt 6 and the loading slide 9 thereon to return to the front end, and the ammunition feeding device 400 puts the projectile 11 into the bullet chamber, and then adjusts the pitch and yaw angles of the launching wall. After the adjustment is completed, the launching seat 2 is released by the release device, and driven by the energy released by the rubber band 28, the launching seat 2 is ejected along the track to complete the launch.

[0045] In some embodiments, a belt 6 is disposed on both sides of the launching slide rail 1 , and the two belts 6 are driven by the same driving motor 5 .

[0046] This embodiment uses two belts 6 to drive the two sides of the launch base 2 respectively, so as to avoid the problems of deviation and impact on the barrel caused by unilateral driving.

[0047] In some embodiments, the embodiments of the present invention further include two rubber pulleys 7; the two rubber pulleys 7 are respectively arranged on both sides of the launching slide rail 1, the fixing parts at both ends of the rubber band 28 and the launching position are located on the same side of the rubber pulley 7, and the two rubber pulleys 7 are located in the area enclosed by the rubber band 28.

[0048] This embodiment increases the length of the rubber band 28 within a limited space, thereby increasing its elastic force storage capacity and service life.

[0049] In some embodiments, the embodiments of the present invention further include a deceleration rubber band 29 and two deceleration rubber band fixing seats 30, the two deceleration rubber band fixing seats 30 are located on the side of the rubber band pulley 7 away from the launching position, the two deceleration rubber band fixing seats 30 are respectively located on both sides of the launching slide rail 1, and the two ends of the deceleration rubber band 29 are respectively fixed to the two deceleration rubber band fixing seats 30. In the launching state, the deceleration rubber band 29 is located on the moving trajectory of the launching seat 2 but not on the launching trajectory of the missile 11, for example, it can be lower than the launching trajectory of the missile 11 or higher than the launching trajectory of the missile 11.

[0050] This embodiment can shorten the unconstrained movement distance of the launch base 2. During the launch process, when the launch base 2 moves to the rubber pulley 7, the projectile will pop out of the launch base 2. Under the action of inertia and the pulling of the rubber band 28, the launch base 2 will reciprocate in front of the rubber pulley 7, causing greater vibration of the entire mechanism, resulting in contact or collision with the projectile at some parts of the mechanism, reducing the launch accuracy. The purpose of using the deceleration rubber band 29 is to shorten the reciprocating time of the launch base 2 and stop the launch base as soon as possible, thereby reducing the vibration of the mechanism and increasing the launch accuracy.

[0051] In some embodiments, the bullet cavity has a bottom surface, two side surfaces and a back surface, the top of the bullet cavity is an inlet for the projectile 11, and the front surface is a launching port. The size of the bullet cavity is adapted to the size of the projectile 11, that is, after the projectile 11 is placed in the bullet cavity, the position of the projectile 11 is defined.

[0052] The launching base 2 of this embodiment adopts a three-point limiting design, which effectively constrains the position and state of the projectile 11 before launching, ensures that the initial conditions of each launch are consistent, and thus improves the launch accuracy.

[0053] Specifically, Figure 6 As shown, the launch base 2 includes two side winding columns 23, a bottom block 24, a limiting plate 26 and a rear positioning column 25; the rubber band 28 passes through the rear of the two side winding columns 23 and the front of the rear positioning column 25.

[0054] It is noted that, since the launching arm 100 usually has a certain pitch angle when in use, there is no defect that the projectile 11 comes out of the launching port of the bullet chamber before launching.

[0055] An embodiment of the present invention provides a projectile device, comprising a base 300, a launch angle adjustment device 200, a bullet feeding device 400 and a launch arm 100 as described in the above embodiment, wherein the launch angle adjustment device 200 can adjust the pitch and yaw angles of the launch arm 100; the bullet feeding device 400 can feed bullets into the bullet chamber of the launch arm 100.

[0056] This embodiment has all the advantages of the above embodiments, which will not be described in detail here.

[0057] In some embodiments, one end of the launch arm 100 is rotatably disposed on the base 300 around a vertical axis and a horizontal axis, and the launch angle adjustment device 200 includes a pitch adaptation slide plate 22, an adapter 17, a bearing seat 16, a yaw axis adapter plate 20, a yaw axis, a yaw outer ring 21, a yaw axis auxiliary bottom plate 18, a yaw nut seat 14, a yaw screw rod 15, a yaw motor 19, a transverse rod 13, a longitudinal rod 12, a pitch screw rod, a pitch motor and a pitch nut seat;

[0058] The pitch adaptation slide plate 22 is slidably arranged on the launch arm 100 along the length direction of the launch arm 100, the adapter 17 is fixedly connected to the pitch adaptation slide plate 22, the adapter 17 is rotatably connected to the bearing seat 16 through a horizontal tube, the bearing seat 16 is fixedly connected to the yaw axis adapter plate 20, the yaw axis adapter plate 20 is fixedly connected to the yaw axis, the yaw axis is vertically arranged, the yaw axis is rotatably connected to the yaw outer ring 21 around its own axis, the yaw outer ring 21 is fixedly connected to the yaw axis auxiliary bottom plate 18, and the yaw axis auxiliary bottom plate 18 is fixedly connected to the yaw axis auxiliary bottom plate 18. The plate 18 is arranged horizontally, the yaw axis auxiliary bottom plate 18 is fixedly connected to the nut seat, the nut seat is threadedly connected to the yaw screw rod 15, the nut seat is in contact with the transverse rod 13 and the contact surface is a plane, the yaw screw rod 15 is rotatably connected to the screw rod seat fixing plate, the yaw motor 19 is fixedly connected to the screw rod seat fixing plate, the screw rod seat fixing plate is slidably arranged on the longitudinal rod 12 along the vertical direction, the screw rod seat is fixedly connected to the pitch nut seat, the pitch screw rod is threadedly connected to the pitch nut seat, and the pitch motor is transmission connected to the pitch screw rod.

[0059] This embodiment realizes the pitching of the launching arm 100 .

[0060] This embodiment can achieve an elevation adjustment range of 15.5° to 43.5°, meet the projection requirements of different distances and angles, and adapt to various battlefield environments.

[0061] The electronic control system in the embodiment of the present invention can adjust the launch arm to the optimal launch angle according to the target distance and the calculated elevation angle. The operator only needs to make fine adjustments according to the landing point, thereby improving operational efficiency and flexibility.

[0062] In the present invention, when the pitch angle is fixed, objects of different weights are launched, and different ranges will be obtained; and for objects of the same weight, different ranges are obtained by adjusting the pitch angle, thereby achieving adaptability to objects of different weights and different ranges.

[0063] The present invention adopts a lightweight design while ensuring strength, thereby improving the mobility of the robot, enabling it to quickly move to a suitable launching position and adapt to site changes.

[0064] In some embodiments, the base 300 is a Mecanum wheel chassis, and each Mecanum wheel 27 in the Mecanum wheel chassis is configured with an independent suspension.

[0065] The projectile device provided by this embodiment can be applied to various complex environments.

[0066] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A launching arm, characterized in that: include: A launching base, which is provided with a bullet cavity, and the bullet cavity is used to accommodate a projectile; A launching slide rail, wherein the launching seat is in sliding contact with the launching slide rail; A rubber band, used to provide launching force, with both ends fixed and the middle portion connected to the launching base; Drive motor; A transmission assembly, the transmission assembly is in transmission connection with the drive motor, the transmission assembly is configured to transmit the power of the drive motor to the launch base and overcome the elastic force of the rubber band to pull the launch base to a launch position for energy storage; and A releaser is configured to clamp and release the launching seat at the launching position.

2. The launching arm according to claim 1, characterized in that: The transmission assembly includes a belt, a pulley and a loading slider; the pulley is connected to the drive motor, the belt is connected to the pulley, the belt is arranged on the side of the launching slide rail, the loading slider is connected to the belt, in an initial state, the rubber band is loose, the launching seat is located between the loading slider and the launching position, the driving motor can drive the loading slider to move toward the launching position and drive the launching seat to move to the launching position; after the launching seat is stuck by the release device, the driving motor can drive the loading slider to move in a direction away from the launching seat.

3. The launching arm according to claim 2, characterized in that: A belt is arranged on both sides of the launching slide rail, and the two belts are driven by the same driving motor.

4. The launching arm according to claim 1, characterized in that: It also includes two rubber pulleys; the two rubber pulleys are respectively arranged on both sides of the launching slide rail, the fixing parts at both ends of the rubber band and the launching position are located on the same side of the rubber pulley, and the two rubber pulleys are located in the area enclosed by the rubber band.

5. The launching arm according to claim 4, characterized in that: It also includes a deceleration rubber band and two deceleration rubber band fixing seats, the two deceleration rubber band fixing seats are located on the side of the rubber band pulley away from the launching position, the two deceleration rubber band fixing seats are respectively located on both sides of the launching slide rail, and the two ends of the deceleration rubber band are respectively fixed to the two deceleration rubber band fixing seats. In the launching state, the deceleration rubber band is located on the moving trajectory of the launching seat but not on the launching trajectory of the projectile.

6. The launching arm according to claim 1, characterized in that: The bullet cavity has a bottom surface, two side surfaces and a back surface. The top of the bullet cavity is a projectile inlet, and the front surface is a launching port.

7. A projectile device, characterized in that: It comprises a base, a launch angle adjustment device, a bullet feeding device and a launch arm as described in any one of claims 1 to 6, wherein the launch angle adjustment device can adjust the pitch and yaw angles of the launch arm; and the bullet feeding device can feed bullets into the bullet cavity of the launch arm.

8. The projectile device according to claim 7, characterized in that: One end of the launch arm is rotatably arranged on the base around a vertical axis and a horizontal axis, and the launch angle adjustment device includes a pitch adaptation slide plate, an adapter, a bearing seat, a yaw axis adapter plate, a yaw axis, a yaw outer ring, a yaw axis auxiliary bottom plate, a yaw nut seat, a yaw screw rod, a yaw motor, a transverse rod, a longitudinal rod, a pitch screw rod, a pitch motor and a pitch nut seat; The pitch adapting slide plate is slidably arranged on the launching arm along the length direction of the launching arm, the adapter is fixedly connected to the pitch adapting slide plate, the adapter is rotatably connected to the bearing seat through a horizontal tube, the bearing seat is fixedly connected to the yaw axis adapter plate, the yaw axis adapter plate is fixedly connected to the yaw axis, the yaw axis is vertically arranged, the yaw axis is rotatably connected to the yaw outer ring around its own axis, the yaw outer ring is fixedly connected to the yaw axis auxiliary bottom plate, and the yaw axis auxiliary bottom plate is horizontally arranged, The yaw axis auxiliary base plate is fixedly connected to the nut seat, the nut seat is threadedly connected to the yaw screw, the nut seat is in contact with the transverse rod and the contact surface is a plane, the yaw screw is rotatably connected to the screw seat fixing plate, the yaw motor is fixedly connected to the screw seat fixing plate, the screw seat fixing plate is slidably arranged on the longitudinal rod along the vertical direction, the screw seat is fixedly connected to the pitch nut seat, the pitch screw is threadedly connected to the pitch nut seat, and the pitch motor is transmission connected to the pitch screw.

9. The projectile device according to claim 7, characterized in that: The base is a Mecanum wheel chassis.

10. The projectile device according to claim 9, characterized in that: Each Mecanum wheel in the Mecanum wheel chassis is configured with an independent suspension.

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