Tension spring ejection dart device based on Robomaster match

Abstract

The invention discloses a tension spring ejection dart device based on a Robomaster match, and belongs to the technical field of robots. The launching rack is connected with the double-yaw-shaft anti-skid base; the launching mechanism is arranged in the launching rack and connected with the launching rack so as to launch the dart on the launching rack; the filling mechanism is connected with the end, away from the double-yaw-shaft anti-skid base, of the launching rack so that the dart can be filled into the launching rack. The control mechanism is arranged between the launching rack and the double-yaw-shaft anti-skid base and is connected with the double-yaw-shaft anti-skid base; the control mechanism is electrically connected with the launching mechanism and the filling mechanism so as to control the launching mechanism to launch the darts and control the filling mechanism to fill the darts. According to the tension spring ejection dart device based on the Robomaster match, four darts can be loaded at the same time, the dart launching precision is high, the launching distance is adjustable within 15-30 meters, and filling and launching of two darts can be completed within 13 seconds.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a tension spring ejecting dart device based on a Robomaster competition. Background Art

[0002] In some Robomaster events, the competition involves using a dart system to automatically launch darts within a 15-second launch window to attack and destroy enemy outposts and base armor plates. This requires that the dart systems used in these Robomaster competitions have the structure and function to store and launch darts.

[0003] At present, most teams in the Robomaster competition use friction wheels as the power source for launching darts. However, friction wheels are easily affected by many factors, such as temperature and humidity in different regions, and the wear of the side of the dart caused by the high-speed rotating friction wheel, which affects the flight posture of each dart differently, resulting in a decrease in the accuracy of the dart. Therefore, there is a need for an automatic dart launching system that can launch darts within 15 seconds while ensuring high accuracy. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a tension spring ejection dart device based on the Robomaster competition, which adopts the following technical solutions:

[0005] A tension spring ejection dart device based on the Robomaster competition, comprising:

[0006] Double yaw axis non-slip base;

[0007] A launching frame connected to the double yaw axis anti-skid base;

[0008] A launching mechanism, which is disposed in the launching frame and connected to the launching frame to launch the darts on the launching frame;

[0009] A loading mechanism connected to an end of the launch frame away from the double yaw axis anti-slip base to load darts into the launch frame;

[0010] A control mechanism, the control mechanism is arranged between the launch frame and the double yaw axis anti-skid base, and is connected to the double yaw axis anti-skid base;

[0011] The control mechanism is electrically connected to the launching mechanism and the loading mechanism respectively to control the launching mechanism to launch darts and the loading mechanism to load darts.

[0012] Furthermore, the double yaw axis anti-skid base includes a first base frame, a second base frame, a connecting plate, a yaw axis motor, a yaw axis lead screw, a yaw axis slide rail, a yaw axis extended slide rail, a front slewing bearing, a rear slewing bearing, an anti-skid foot pad and a magnetic suction seat;

[0013] There are two yaw axis slide rails; the two yaw axis slide rails are arranged parallel to each other; wherein the bottom of the yaw axis slide rail is fixedly connected to the top of the first base frame; the yaw axis motor is arranged between the two yaw axis slide rails and is arranged parallel to the yaw axis slide rails; the bottom of the yaw axis motor is fixedly connected to the first base frame; the output end of the yaw axis motor is fixedly connected to the yaw axis screw rod;

[0014] There are two yaw axis lengthening slide rails; the two yaw axis lengthening slide rails are arranged parallel to each other; the extension direction of the two yaw axis lengthening slide rails is perpendicular to the extension direction of the two yaw axis slide rails; wherein the bottom of the yaw axis lengthening slide rail is slidably connected to the top of the yaw axis slide rail; the top of the yaw axis lengthening slide rail is slidably connected to the bottom of the connecting plate; the top of the connecting plate is connected to the bottom of the second base frame through the front slewing bearing;

[0015] One end of the bottom of the second base frame away from the connecting plate is connected to the top of the first base frame through the rear slewing bearing;

[0016] There are multiple anti-skid foot pads, and the multiple anti-skid foot pads are connected to the bottom of the first base frame at intervals. There are multiple magnetic suction seats, and the multiple magnetic suction seats are connected to the bottom of the first base frame at intervals.

[0017] Furthermore, the control mechanism includes a referee system, a central integrated control board, an industrial camera and a small integrated computer; the referee system, the central integrated control board and the small integrated computer are respectively connected to the second base frame; the industrial camera is connected to one end of the launch frame close to the yaw axis motor.

[0018] Further, the launching mechanism comprises a launching slide component, an energy storage component, a release trigger component and a buffer component; the energy storage component is provided in two groups; the two groups of energy storage components are respectively arranged on the inner walls of two oppositely arranged launching frames and are connected to the launching frames; the release trigger component and the buffer component are both arranged between the two groups of energy storage components and are respectively connected to the launching frames; one end of the launching slide component is slidably connected to the launching frame, and the other end is hung with the release trigger component.

[0019] Further, the release trigger mechanism component includes a trigger guide rail, a trigger screw, a trigger screw motor, a trigger shaft, a trigger plate, a release servo, a trigger mounting seat, a servo rocker arm, and a trigger connecting rod;

[0020] The trigger screw motor is connected to one end of the launch frame away from the yaw axis motor; one end of the trigger screw is connected to the output end of the trigger screw motor, and the other end extends along the launch direction of the dart and is fixedly connected to the launch frame;

[0021] The two ends of the trigger guide rail are respectively connected to the two ends of the launch frame; the trigger guide rail is arranged parallel to the launching direction of the dart; the trigger guide rail is arranged below the trigger screw rod; the rotating shaft is sleeved on the trigger screw rod and is rotatably connected to the trigger screw rod;

[0022] One end of the trigger mounting seat is connected to the bottom of the rotating shaft, and the other end is slidably connected to the trigger guide rail; one end of the servo rocker arm is connected to the output end of the release servo, and the other end is rotatably connected to the first end of the trigger connecting rod; the second end of the trigger connecting rod is rotatably connected to the first end of the trigger plate; the second end of the trigger plate is fixedly connected to the outer wall of the rotating shaft and is arranged above the trigger mounting seat;

[0023] Among them, the trigger plate, the release servo, the servo rocker arm, and the trigger connecting rod are each provided with two; the two trigger plates, the two release servos, the two servo rocker arms, and the two trigger connecting rods are all symmetrically arranged about the trigger guide rail.

[0024] Further, the two groups of energy storage components are arranged parallel to each other and in the same plane; each group of energy storage components includes a tension sensor, a first fixed pulley group, an energy storage guide rail, a movable pulley group, a tension spring fixing plate, a tension spring, a first Kevlar rope, an energy storage motor, a first main synchronous wheel, a first slave synchronous wheel, a first synchronous belt and an energy storage buckle;

[0025] The first fixed pulley group and the tension sensor are respectively fixedly connected to one end of the launch frame close to the yaw axis motor; the tension spring fixing plate and the energy storage motor are respectively fixedly connected to one end of the launch frame away from the yaw axis motor; the energy storage guide rail is connected to the launch frame and extends along the launching direction of the dart; the movable pulley group is slidably connected to the energy storage guide rail;

[0026] The movable pulley group and the tension spring fixing plate are connected by the tension spring; the first end of the first Kevlar rope is fixedly connected to the tension sensor; the second end of the first Kevlar rope passes around the movable pulley group and the first fixed pulley group, and is fixedly connected to the launch slide member; the first main synchronous wheel is connected to the output end of the energy storage motor; the first slave synchronous wheel is connected to one end of the launch frame close to the yaw axis motor; the first main synchronous wheel and the first slave synchronous wheel are connected by the first synchronous belt;

[0027] Wherein, the two first synchronous belts are connected via the energy storage buckle; and the energy storage buckle is fixedly connected to one end of the first synchronous belt close to the magnetic suction seat.

[0028] Furthermore, the buffer component includes a buffer spring mounting seat, a buffer guide slide rail, a second fixed pulley group, a buffer spring, a buffer spring mounting plate and a second Kevlar rope; the buffer spring mounting seat is connected to one end of the launch frame close to the yaw axis motor; the second fixed pulley group is connected to one end of the launch frame away from the buffer spring mounting seat; one end of the buffer guide slide rail is connected to the buffer spring mounting seat, and the other end extends toward the second fixed pulley group; the buffer spring mounting plate is slidably connected to the buffer guide slide rail; one end of the buffer spring is connected to the buffer spring mounting seat, and the other end is connected to the buffer spring mounting plate; the first end of the second Kevlar rope is fixedly connected to the buffer spring mounting plate; the second end of the second Kevlar rope passes around the second fixed pulley group and is fixedly connected to the launch slide component.

[0029] Furthermore, the launching slide component includes a force-bearing plate, a loading slide, a first slider, a second slider, a limiter and a reinforced carbon plate; the loading slide is hollow inside, and a first opening is provided at the bottom of the loading slide so that the loading slide is sleeved on the launching rack; the first slider is provided at the first opening of the loading slide and is slidably connected to the launching rack; the second slider is provided on the inner wall of the loading slide at one end away from the first slider, and is slidably connected to the launching rack so that the loading slide slides along the launching rack; the force-bearing plate is connected to the bottom of the slider; one end of the limiter is connected to one end of the loading slide extending in the dart launching direction, and the other end is hung with the dart; two reinforced carbon plates are provided; the two reinforced carbon plates are respectively connected to two oppositely arranged outer walls of the loading slide;

[0030] Wherein, the second end of the first Kevlar rope is connected to an end of the force-bearing plate close to the yaw-axis motor; the second end of the second Kevlar rope is connected to an end of the force-bearing plate away from the yaw-axis motor.

[0031] Furthermore, the loading mechanism includes a loading fixed frame, a first loading track, a second loading track, a loading slide rail, a synchronous wheel drive motor, a second main synchronous wheel, a second slave synchronous wheel, a second synchronous belt, a push plate, a steering gear, and a loading baffle; the bottom of the loading fixed frame is connected to the launching frame;

[0032] The end of the top of the loading and fixing frame away from the yaw axis motor is fixedly connected to the second loading track to enclose a launching area for darts; the end of the second loading track away from the yaw axis motor is provided with a second opening; the loading slide rail is connected to the bottom of the second loading track and is provided corresponding to the second opening; the push plate is provided at the second opening and is slidably connected to the loading slide rail to push the dart to be launched at the second opening toward the first loading track; the first loading track is rotatably connected to the end of the top of the loading and fixing frame close to the yaw axis motor to allow the dart to be launched to fall into the launching area;

[0033] The synchronous wheel driving motor is connected to an end of the launching frame away from the yaw axis motor; the second main synchronous wheel is arranged on an end of the second loading track away from the yaw axis motor, and is connected to the output end of the synchronous driving motor; the second slave synchronous wheel is connected to an end of the second loading track close to the yaw axis motor; the second main synchronous wheel and the second slave synchronous wheel are connected by the second synchronous belt; the bottom of the push plate is fixedly connected to the second synchronous belt, so that the second synchronous belt drives the push plate to move on the loading slide rail;

[0034] The loading baffle is connected to an end of the second loading track away from the second opening to prevent the dart to be launched from falling into the launching area; the servo includes a first servo and a second servo; the fixed end of the first servo is connected to the loading fixed frame, and the driving end of the first servo is connected to the first loading track to drive the first loading track to rotate; the fixed end of the second servo is connected to the loading fixed frame, and the driving end of the second servo is connected to the loading baffle to drive the loading baffle to rotate, so that the dart to be launched falls into the launching area.

[0035] Furthermore, the dart includes a dart head, a dart battery installation printout, a battery-powered circuit board, a battery protection shell, a dart front end, a dart main wing, a dart rear end, and a dart tail wing; the dart head, the dart front end, and the dart rear end are connected in sequence; the dart battery installation printout, the battery-powered circuit board, and the battery protection shell that are connected in sequence are all arranged in the dart front end, and are respectively connected to the inner wall of the dart front end; the outer wall of the dart front end is hung with the limiter; the dart main wing and the dart tail wing are arranged at intervals at the dart rear end, and are fixedly connected to the dart rear end.

[0036] Beneficial effects:

[0037] (1) The present invention provides a tension spring ejection dart device based on the Robomaster competition, which can load 4 darts at the same time. Through the cooperation between various mechanisms, the dart launch has high accuracy, the launch distance is adjustable within 15-30 meters, and the loading and launching of two darts can be completed within 13 seconds; the device can also realize the rotation adjustment of the yaw axis, the base of the launch frame is stable and will not be displaced by the recoil of the launch, and the spring energy solution can be realized. With the adjustable trigger, the initial velocity of the dart launch can be accurately controlled, so that the variance of the initial velocity of the dart is not greater than 0.5.

[0038] (2) The launching frame of the tension spring ejection dart device based on the Robomaster competition provided by the present invention can realize front-end guidance through the self-aiming of an industrial camera.

[0039] (3) The tension spring ejection dart device based on the Robomaster competition provided by the present invention is stable and sturdy and can withstand impact and robot crushing.

[0040] (4) The darts of the tension spring ejection dart device based on the Robomaster competition provided by the present invention have a simple structure, low cost, and are easy to produce in large quantities. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 The overall structure of the tension spring ejection dart device based on the Robomaster competition of the present invention is shown in FIG. Figure 1 ;

[0042] Figure 2 The overall structure of the tension spring ejection dart device based on the Robomaster competition of the present invention is shown in FIG. Figure 2 ;

[0043] Figure 3 An exploded view of a double yaw axis anti-skid base of a tension spring ejection dart device based on the Robomaster competition of the present invention;

[0044] Figure 4 An exploded view of a launching system of a tension spring ejecting dart device based on a Robomaster competition of the present invention;

[0045] Figure 5 An exploded view of the loading mechanism of the tension spring ejection dart device based on the Robomaster competition of the present invention;

[0046] Figure 6 An exploded view of a launching slide member of a tension spring ejecting dart device based on the Robomaster competition of the present invention;

[0047] Figure 7 A top view of the energy storage guide component of the tension spring ejection dart device based on the Robomaster competition of the present invention;

[0048] Figure 8 A side view of the energy storage guide component of the tension spring ejection dart device based on the Robomaster competition of the present invention;

[0049] Fig. 9 A side view of a release trigger mechanism of a tension spring ejection dart device based on the Robomaster competition of the present invention;

[0050] Fig.10 A side view of a buffer member of a tension spring ejection dart device based on a Robomaster competition of the present invention;

[0051] Fig.11 An exploded view of a dart of the tension spring ejecting dart device based on the Robomaster competition of the present invention;

[0052] Fig.12 It is a schematic diagram of the overall structure of the dart of the tension spring ejection dart device based on the Robomaster competition of the present invention;

[0053] Fig.13 It is a partial structural schematic diagram of a double yaw axis anti-skid base of a tension spring ejection dart device based on the Robomaster competition of the present invention;

[0054] Among them, 1. Double yaw axis anti-skid base; 111. First base frame; 112. Second base frame; 113. Connecting plate; 12. Yaw axis motor; 13. Yaw axis lead screw; 14. Yaw axis slide rail; 15. Yaw axis extended slide rail; 16. Front slewing bearing; 17. Rear slewing bearing; 18. Anti-skid foot pad; 19. Magnetic suction seat;

[0055] 2. Launching rack;

[0056] 3. Launching mechanism;

[0057] 4. Loading mechanism; 41. Loading fixed frame; 42. Loading track; 421. First loading track; 422. Second loading track; 43. Loading slide rail; 44. Synchronous wheel driving motor; 45. First slave synchronous wheel; 46. Second synchronous belt; 47. Push plate; 48. First steering gear; 49. Loading baffle;

[0058] 5. Control mechanism; 51. Referee system; 52. Central integrated control panel; 53. Industrial camera; 54. Small integrated computer;

[0059] 6. Launch slide; 61. Force plate; 62. Loading slide; 63. First slide block; 64. Stopper; 65. Strengthened carbon plate; 66. Second slide block;

[0060] 7. Energy storage component; 71. Tension sensor; 72. First fixed pulley block; 73. Energy storage guide rail; 74. Moving pulley block; 75. Tension spring fixing plate; 76. Tension spring; 77. First Kevlar rope; 78. Energy storage motor; 79. First main synchronous wheel; 710. First synchronous belt; 711. Energy storage buckle;

[0061] 8. Release trigger mechanism; 81; Trigger guide rail; 82; Trigger screw; 83; Trigger shaft; 84; Trigger plate; 85; Release servo; 86; Trigger mounting seat; 87; Servo rocker arm; 88; Trigger connecting rod; 89; Trigger screw motor;

[0062] 9. Buffer mechanism component; 91. Buffer spring mounting seat; 92. Buffer guide rail; 93. Second fixed pulley block; 94. Buffer spring; 95. Buffer spring mounting plate; 96. Second Kevlar rope;

[0063] 10. Dart; 101. Dart head; 102. Dart battery installation printout; 103. Battery-powered circuit board; 104. Battery protective shell; 105. Dart front end; 106. Dart main wing; 107. Dart rear end; 108. Dart tail wing. DETAILED DESCRIPTION

[0064] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below.

[0065] Example 1

[0066] Reference Figures 1 to 12 , a tension spring 76 ejection dart 10 device based on the Robomaster competition, comprising:

[0067] Double yaw axis anti-skid base 1;

[0068] A launching frame 2, the launching frame 2 is connected to a double yaw axis anti-skid base 1;

[0069] A launching mechanism 3, which is disposed in the launching frame 2 and connected to the launching frame 2 to launch the dart 10 on the launching frame 2;

[0070] A loading mechanism 4, the loading mechanism 4 is connected to an end of the launch frame 2 away from the double yaw axis anti-slip base 1, so as to load the darts 10 into the launch frame 2;

[0071] A control mechanism 5, which is disposed between the launch frame 2 and the double yaw axis anti-skid base 1 and is connected to the double yaw axis anti-skid base 1;

[0072] The control mechanism 5 is electrically connected to the launching mechanism 3 and the loading mechanism 4 respectively, so as to control the launching mechanism 3 to launch the dart 10 and the loading mechanism 4 to load the dart 10 .

[0073] In this embodiment, the double yaw axis anti-skid base 1 includes a first base frame 111, a second base frame 112, a connecting plate 113, a yaw axis motor 12, a yaw axis screw rod 13, a yaw axis slide rail 14, a yaw axis lengthening slide rail 15, a front slewing bearing 16, a rear slewing bearing 17, an anti-skid foot pad 18 and a magnetic suction seat 19;

[0074] There are two yaw axis slide rails 14; the two yaw axis slide rails 14 are arranged parallel to each other; wherein the bottom of the yaw axis slide rail 14 is fixedly connected to the top of the first base frame 111; the yaw axis motor 12 is arranged between the two yaw axis slide rails 14 and is arranged parallel to the yaw axis slide rails 14; the bottom of the yaw axis motor 12 is fixedly connected to the first base frame 111; the output end of the yaw axis motor 12 is fixedly connected to the yaw axis screw rod 13;

[0075] There are two yaw-axis lengthening slide rails 15; the two yaw-axis lengthening slide rails 15 are arranged parallel to each other; the extension direction of the two yaw-axis lengthening slide rails 15 is perpendicular to the extension direction of the two yaw-axis slide rails 14; wherein, the bottom of the yaw-axis lengthening slide rail 15 is slidably connected to the top of the yaw-axis slide rail 14; the top of the yaw-axis lengthening slide rail 15 is slidably connected to the bottom of the connecting plate 113; the top of the connecting plate 113 is connected to the bottom of the second base frame 112 through a front slewing bearing 16; wherein, the extension direction of the yaw-axis lengthening slide rail 15 is perpendicular to the extension direction of the yaw-axis slide rail 14.

[0076] One end of the bottom of the second base frame 112 away from the connecting plate 113 is connected to the top of the first base frame 111 through the rear slewing bearing 17;

[0077] A plurality of anti-skid foot pads 18 are provided; a plurality of spaced anti-skid foot pads 18 are connected to the bottom of the first base frame 111 ; a plurality of magnetic suction seats 19 are provided; a plurality of spaced magnetic suction seats 19 are connected to the bottom of the first base frame 111 .

[0078] The anti-skid pad 18 is preferably made of rubber material, and the anti-skid pad 18 is an anti-skid rubber pad.

[0079] In this embodiment, the control mechanism 5 includes a referee system 51, a central integrated control board 52, an industrial camera 53 and a small integrated computer 54; the referee system 51, the central integrated control board 52, and the small integrated computer 54 are respectively connected to the second base frame 112; the industrial camera 53 is connected to one end of the launch frame 2 close to the yaw axis motor 12.

[0080] In this embodiment, the launching mechanism 3 includes a launching slide component 6, an energy storage component 7, a release trigger component 8 and a buffer component 9; two groups of energy storage components 7 are provided; the two groups of energy storage components 7 are respectively arranged on the inner walls of two oppositely arranged launching frames 2, and are connected to the launching frames 2; the release trigger component 8 and the buffer component 9 are both arranged between the two groups of energy storage components 7, and are respectively connected to the launching frames 2; one end of the launching slide component 6 is slidably connected to the launching frame 2, and the other end is hung with the release trigger component 8.

[0081] In this embodiment, the release trigger mechanism 8 includes a trigger guide rail 81, a trigger screw 82, a trigger screw motor 89, a trigger shaft 83, a trigger plate 84, a release servo 85, a trigger mounting seat 86, a servo rocker arm 87, and a trigger connecting rod 88;

[0082] The trigger screw motor 89 is connected to one end of the launch frame 2 away from the yaw axis motor 12; one end of the trigger screw 82 is connected to the output end of the trigger screw motor 89, and the other end extends along the launch direction of the dart 10 and is fixedly connected to the launch frame 2;

[0083] The two ends of the trigger guide rail 81 are respectively connected to the two ends of the launch frame 2; the trigger guide rail 81 is arranged parallel to the launching direction of the dart 10; the trigger guide rail 81 is arranged below the trigger screw rod 82; the rotating shaft is sleeved on the trigger screw rod 82 and is rotatably connected to the trigger screw rod 82;

[0084] One end of the trigger mounting seat 86 is connected to the bottom of the rotating shaft, and the other end is slidably connected to the trigger guide rail 81; one end of the servo rocker arm 87 is connected to the output end of the release servo 85, and the other end is rotatably connected to the first end of the trigger link 88; the second end of the trigger link 88 is rotatably connected to the first end of the trigger plate 84; the second end of the trigger plate 84 is fixedly connected to the outer wall of the rotating shaft and is arranged above the trigger mounting seat 86;

[0085] Among them, there are two trigger plates 84, two release servos 85, two servo rocker arms 87, and two trigger connecting rods 88; the two trigger plates 84, two release servos 85, two servo rocker arms 87, and two trigger connecting rods 88 are all symmetrically arranged about the trigger guide rail 81.

[0086] In this embodiment, two groups of energy storage components 7 are arranged parallel to each other and in the same plane; each group of energy storage components 7 includes a tension sensor 71, a first fixed pulley group 72, an energy storage guide rail 73, a movable pulley group 74, a tension spring 76 fixing plate 75, a tension spring 76, a first Kevlar rope 77, an energy storage motor 78, a first main synchronous wheel 79, a first slave synchronous wheel 45, a first synchronous belt 710 and an energy storage buckle 711;

[0087] The first fixed pulley group 72 and the tension sensor 71 are respectively fixedly connected to one end of the launch frame 2 close to the yaw axis motor 12; the tension spring 76 fixing plate 75 and the energy storage motor 78 are respectively fixedly connected to one end of the launch frame 2 away from the yaw axis motor 12; the energy storage guide rail 73 is connected to the launch frame 2 and extends along the launch direction of the dart 10; the movable pulley group 74 is slidably connected to the energy storage guide rail 73;

[0088] The movable pulley group 74 and the tension spring 76 fixing plate 75 are connected by the tension spring 76; the first end of the first Kevlar rope 77 is fixedly connected to the tension sensor 71; the second end of the first Kevlar rope 77 passes through the movable pulley group 74 and the first fixed pulley group 72, and is fixedly connected to the launch slide member 6; the first main synchronous wheel 79 is connected to the output end of the energy storage motor 78; the first slave synchronous wheel 45 is connected to one end of the launch frame 2 close to the yaw axis motor 12; the first main synchronous wheel 79 and the first slave synchronous wheel 45 are connected by the first synchronous belt 710;

[0089] The two first synchronous belts 710 are connected via an energy storage buckle 711 ; the energy storage buckle 711 is fixedly connected to one end of the first synchronous belt 710 close to the magnetic suction seat 19 .

[0090] Through the above technical solution, the energy storage buckle 711 is connected to the trigger plate 84, so that the trigger plate 84 drives the energy storage buckle 711 to move.

[0091] In this embodiment, the buffer component 9 includes a buffer spring 94 mounting seat 91, a buffer guide slide rail 92, a second fixed pulley group 93, a buffer spring 94, a buffer spring mounting plate 95 and a second Kevlar rope 96; the buffer spring 94 mounting seat 91 is connected to one end of the launch frame 2 close to the yaw axis motor 12; the second fixed pulley group 93 is connected to one end of the launch frame 2 away from the buffer spring 94 mounting seat 91; one end of the buffer guide slide rail 92 is connected to the buffer spring 94 mounting seat 91, and the other end extends to the second fixed pulley group 93; the buffer spring mounting plate 95 is slidably connected to the buffer guide slide rail 92; one end of the buffer spring 94 is connected to the buffer spring 94 mounting seat 91, and the other end is connected to the buffer spring mounting plate 95; the first end of the second Kevlar rope 96 is fixedly connected to the buffer spring mounting plate 95; the second end of the second Kevlar rope 96 bypasses the second fixed pulley group 93 and is fixedly connected to the launch slide member 6.

[0092] In the present embodiment, the launching slide member 6 comprises a force plate 61, a loading slide 62, a first slider 63, a second slider 66, a stopper 64 and a reinforced carbon plate 65; the loading slide 62 is hollow inside, and a first opening is provided at the bottom of the loading slide 62, so that the loading slide 62 is sleeved on the launching rack 2; the first slider 63 is provided at the first opening of the loading slide 62, and is slidably connected to the launching rack 2; the second slider 66 is provided on the inner wall of the loading slide 62 at one end away from the first slider 63, and is slidably connected to the launching rack 2, so that the loading slide 62 slides along the launching rack 2; the force plate 61 is connected to the bottom of the slider 63; one end of the stopper 64 is connected to one end of the loading slide 62 extending along the launching direction of the dart 10, and the other end is hung with the dart 10;

[0093] Two reinforced carbon plates 65 are provided; the two reinforced carbon plates 65 are respectively connected to two oppositely disposed outer walls of the loading slide 62;

[0094] In another embodiment, two groups of reinforced carbon plates 65 are provided; the two groups of reinforced carbon plates are relatively arranged on the outer wall of the loading slide 62; wherein each group of reinforced carbon plates includes two reinforced carbon plates 65, the two reinforced carbon plates 65 are stacked, and one of the reinforced carbon plates 65 is in contact with the outer wall of the loading slide 62 to fix the two stacked reinforced carbon plates 65 on the outer wall of the loading slide 62.

[0095] The second end of the first Kevlar rope 77 is connected to an end of the force plate 61 close to the yaw axis motor 12 ; the second end of the second Kevlar rope 96 is connected to an end of the force plate 61 away from the yaw axis motor 12 .

[0096] In this embodiment, the loading mechanism 4 includes a loading fixed frame 41, a first loading track 421, a second loading track 422, a loading slide rail 43, a synchronous wheel driving motor 44, a second main synchronous wheel, a second slave synchronous wheel, a second synchronous belt 46, a push plate 47, a steering gear, and a loading baffle 49; the bottom of the loading fixed frame 41 is connected to the launching frame 2;

[0097] The end of the top of the loading fixture 41 away from the yaw axis motor 12 is fixedly connected to the second loading track 422 to enclose a launching area for the dart 10; the end of the second loading track 422 away from the yaw axis motor 12 is provided with a second opening; the loading slide rail 43 is connected to the bottom of the second loading track 422 and is provided corresponding to the second opening; the push plate 47 is provided at the second opening and is slidably connected to the loading slide rail 43 to push the dart 10 to be launched at the second opening toward the first loading track 421; the first loading track 421 is rotatably connected to the end of the top of the loading fixture 41 close to the yaw axis motor 12 to allow the dart 10 to be launched to fall into the launching area;

[0098] The synchronous wheel driving motor 44 is connected to one end of the launching frame 2 away from the yaw axis motor 12; the second main synchronous wheel is arranged on one end of the second loading track 422 away from the yaw axis motor 12, and is connected to the output end of the synchronous driving motor; the second slave synchronous wheel is connected to one end of the second loading track 422 close to the yaw axis motor 12; the second main synchronous wheel and the second slave synchronous wheel are connected by a second synchronous belt 46; the bottom of the push plate 47 is fixedly connected to the second synchronous belt 46, so that the second synchronous belt 46 drives the push plate 47 to move on the loading slide rail 43;

[0099] The loading baffle 49 is connected to an end of the second loading track 422 away from the second opening to prevent the dart 10 to be launched from falling into the launching area; the servo includes a first servo 48 and a second servo; the fixed end of the first servo 48 is connected to the loading fixture 41, and the driving end of the first servo 48 is connected to the first loading track 421 to drive the first loading track 421 to rotate; the fixed end of the second servo is connected to the loading fixture 41, and the driving end of the second servo is connected to the loading baffle 49 to drive the loading baffle 49 to rotate, so that the dart 10 to be launched falls into the launching area.

[0100] In this embodiment, the dart 10 includes a dart head 101, a dart battery installation printout 102, a battery-powered circuit board 103, a battery protective shell 104, a dart front end 105, a dart main wing 106, a dart rear end 107, and a dart tail 108; the dart head 101, the dart front end 105, and the dart rear end 107 are connected in sequence; the dart battery installation printout 102, the battery-powered circuit board 103, and the battery protective shell 104 connected in sequence are all arranged in the dart front end 105, and are respectively connected to the inner wall of the dart front end 105; the outer wall of the dart front end 105 is hung with the limiter 64; the dart main wing 106 and the dart tail 108 are arranged at intervals in the dart rear end 107, and are fixedly connected to the dart rear end 107.

[0101] The working process of the tension spring ejection dart device based on the Robomaster competition provided by the present invention is as follows: after placing a plurality of darts 10 at the second opening at the top of the second loading track 422, the synchronous wheel driving motor is started, and the second main synchronous wheel 44 is driven by the synchronous wheel driving motor to rotate, and the second main synchronous wheel drives the second slave synchronous wheel 45 to rotate through the second synchronous belt 46, so that the moving second synchronous belt 46 drives the push plate 47 to move a certain distance toward the first loading track 421, and then the synchronous wheel driving motor 44 stops rotating, and the moving second synchronous belt 46 drives the push plate 47 to move a certain distance toward the first loading track 421. The first dart 10 moves to the top of the first loading track by a certain distance; the first servo 48 drives the first loading track 421 to rotate forward (the launching direction of the dart 10), so that the dart 10 at the top of the first loading track 421 slides backward to the top of the launching rack 2, and the loading baffle 49 on the second loading track 422 blocks the dart 10; after the loading baffle 49 blocks the dart 10, the second servo is started, and the second servo drives the loading baffle 49 to rotate backward, so that the dart 10 falls into the launching area, and the dart 10 is mounted on the stopper 64;

[0102] After the dart 10 is mounted on the stopper 64, the energy storage motor 78 drives the first main synchronous wheel 79 to rotate, and the first main synchronous wheel 79 drives the first slave synchronous wheel to rotate through the first synchronous belt 710. At this time, the rotating first synchronous belt 710 drives the energy storage buckle 711 to move backward, and the backward moving energy storage buckle 711 drives the trigger mounting seat 86 to move backward through the trigger plate 84 until the dart 10 reaches the rearmost end of the launcher 2 (the end away from the first loading track);

[0103] After the dart 10 reaches the rearmost end of the launcher 2, the trigger screw motor 89 drives the rotating shaft 83 to move forward to the initial position for launching the dart 10 through the trigger screw 82, and the trigger screw motor 89 stops rotating at this time; after the dart 10 reaches the initial position, the servo 85 is released to drive the servo rocker arm 87 to rotate, and at this time the servo rocker arm 87 drives the trigger plate 84 to move through the trigger link 88, and the loading slide 62 moves forward through the instantaneous force, thereby launching the dart 10.

[0104] The above are only preferred embodiments of the present invention and do not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A spring ejection dart device based on the Robomaster competition, characterized in that: include: Double yaw axis non-slip base; A launching frame connected to the double yaw axis anti-skid base; A launching mechanism, which is disposed in the launching frame and connected to the launching frame to launch the darts on the launching frame; A loading mechanism connected to an end of the launch frame away from the double yaw axis anti-slip base to load darts into the launch frame; A control mechanism, the control mechanism is arranged between the launch frame and the double yaw axis anti-skid base, and is connected to the double yaw axis anti-skid base; The control mechanism is electrically connected to the launching mechanism and the loading mechanism respectively to control the launching mechanism to launch darts and the loading mechanism to load darts.

2. The tension spring ejection dart device based on the Robomaster competition according to claim 1, characterized in that: The double yaw axis anti-skid base comprises a first base frame, a second base frame, a connecting plate, a yaw axis motor, a yaw axis lead screw, a yaw axis slide rail, a yaw axis extended slide rail, a front slewing bearing, a rear slewing bearing, an anti-skid foot pad and a magnetic suction seat; There are two yaw axis slide rails; the two yaw axis slide rails are arranged parallel to each other; wherein the bottom of the yaw axis slide rail is fixedly connected to the top of the first base frame; the yaw axis motor is arranged between the two yaw axis slide rails and is arranged parallel to the yaw axis slide rails; the bottom of the yaw axis motor is fixedly connected to the first base frame; the output end of the yaw axis motor is fixedly connected to the yaw axis screw rod; There are two yaw axis lengthening slide rails; the two yaw axis lengthening slide rails are arranged parallel to each other; the extension direction of the two yaw axis lengthening slide rails is perpendicular to the extension direction of the two yaw axis slide rails; wherein the bottom of the yaw axis lengthening slide rail is slidably connected to the top of the yaw axis slide rail; the top of the yaw axis lengthening slide rail is slidably connected to the bottom of the connecting plate; the top of the connecting plate is connected to the bottom of the second base frame through the front slewing bearing; One end of the bottom of the second base frame away from the connecting plate is connected to the top of the first base frame through the rear slewing bearing; There are multiple anti-skid foot pads, and the multiple anti-skid foot pads are connected to the bottom of the first base frame at intervals. There are multiple magnetic suction seats, and the multiple magnetic suction seats are connected to the bottom of the first base frame at intervals.

3. The tension spring ejection dart device based on the Robomaster competition according to claim 2, characterized in that: The control mechanism includes a referee system, a central integrated control board, an industrial camera and a small integrated computer; the referee system, the central integrated control board and the small integrated computer are respectively connected to the second base frame; the industrial camera is connected to one end of the launch frame close to the yaw axis motor.

4. The tension spring ejection dart device based on the Robomaster competition according to claim 2, characterized in that: The launching mechanism comprises a launching slide member, an energy storage member, a release trigger member and a buffer member; the energy storage member is provided in two groups; the two groups of energy storage members are respectively arranged on the inner walls of two oppositely arranged launching racks and connected to the launching racks; the release trigger member and the buffer member are both arranged between the two groups of energy storage members and respectively connected to the launching racks; One end of the launching slide component is slidably connected to the launching frame, and the other end is hung with the releasing trigger component.

5. The tension spring ejection dart device based on the Robomaster competition according to claim 4, characterized in that: The release trigger mechanism comprises a trigger guide rail, a trigger screw, a trigger screw motor, a trigger shaft, a trigger plate, a release servo, a trigger mounting seat, a servo rocker arm, and a trigger connecting rod; The trigger screw motor is connected to one end of the launch frame away from the yaw axis motor; one end of the trigger screw is connected to the output end of the trigger screw motor, and the other end extends along the launch direction of the dart and is fixedly connected to the launch frame; The two ends of the trigger guide rail are respectively connected to the two ends of the launch frame; the trigger guide rail is arranged parallel to the launching direction of the dart; the trigger guide rail is arranged below the trigger screw rod; the rotating shaft is sleeved on the trigger screw rod and is rotatably connected to the trigger screw rod; One end of the trigger mounting seat is connected to the bottom of the rotating shaft, and the other end is slidably connected to the trigger guide rail; one end of the servo rocker arm is connected to the output end of the release servo, and the other end is rotatably connected to the first end of the trigger connecting rod; the second end of the trigger connecting rod is rotatably connected to the first end of the trigger plate; the second end of the trigger plate is fixedly connected to the outer wall of the rotating shaft and is arranged above the trigger mounting seat; Among them, the trigger plate, the release servo, the servo rocker arm, and the trigger connecting rod are each provided with two; the two trigger plates, the two release servos, the two servo rocker arms, and the two trigger connecting rods are all symmetrically arranged about the trigger guide rail.

6. The tension spring ejection dart device based on the Robomaster competition according to claim 4, characterized in that: The two groups of energy storage components are arranged parallel to each other and in the same plane; each group of energy storage components includes a tension sensor, a first fixed pulley group, an energy storage guide rail, a movable pulley group, a tension spring fixing plate, a tension spring, a first Kevlar rope, an energy storage motor, a first main synchronous wheel, a first slave synchronous wheel, a first synchronous belt and an energy storage buckle; The first fixed pulley group and the tension sensor are respectively fixedly connected to one end of the launch frame close to the yaw axis motor; the tension spring fixing plate and the energy storage motor are respectively fixedly connected to one end of the launch frame away from the yaw axis motor; the energy storage guide rail is connected to the launch frame and extends along the launching direction of the dart; the movable pulley group is slidably connected to the energy storage guide rail; The movable pulley group and the tension spring fixing plate are connected by the tension spring; the first end of the first Kevlar rope is fixedly connected to the tension sensor; the second end of the first Kevlar rope passes around the movable pulley group and the first fixed pulley group, and is fixedly connected to the launch slide member; the first main synchronous wheel is connected to the output end of the energy storage motor; the first slave synchronous wheel is connected to one end of the launch frame close to the yaw axis motor; the first main synchronous wheel and the first slave synchronous wheel are connected by the first synchronous belt; Wherein, the two first synchronous belts are connected via the energy storage buckle; and the energy storage buckle is fixedly connected to one end of the first synchronous belt close to the magnetic suction seat.

7. The tension spring ejection dart device based on the Robomaster competition according to claim 6, characterized in that: The buffer component includes a buffer spring mounting seat, a buffer guide slide rail, a second fixed pulley group, a buffer spring, a buffer spring mounting plate and a second Kevlar rope; the buffer spring mounting seat is connected to one end of the launch frame close to the yaw axis motor; the second fixed pulley group is connected to one end of the launch frame away from the buffer spring mounting seat; one end of the buffer guide slide rail is connected to the buffer spring mounting seat, and the other end extends toward the second fixed pulley group; the buffer spring mounting plate is slidably connected to the buffer guide slide rail; one end of the buffer spring is connected to the buffer spring mounting seat, and the other end is connected to the buffer spring mounting plate; the first end of the second Kevlar rope is fixedly connected to the buffer spring mounting plate; the second end of the second Kevlar rope passes around the second fixed pulley group and is fixedly connected to the launch slide component.

8. The tension spring ejection dart device based on the Robomaster competition according to claim 7, characterized in that: The launching slide component includes a force-bearing plate, a loading slide, a first slider, a second slider, a stopper and a reinforced carbon plate; the loading slide is hollow inside, and a first opening is provided at the bottom of the loading slide, so that the loading slide is sleeved on the launching frame; the first slider is provided at the first opening of the loading slide, and is slidably connected to the launching frame; the second slider is provided on an end of the inner wall of the loading slide away from the first slider, and is slidably connected to the launching frame, so that the loading slide slides along the launching frame; The force-bearing plate is connected to the bottom of the slider; one end of the stopper is connected to one end of the loading slide extending in the dart launching direction, and the other end is hung with the dart; two reinforced carbon plates are provided; the two reinforced carbon plates are respectively connected to two oppositely arranged outer walls of the loading slide; Wherein, the second end of the first Kevlar rope is connected to an end of the force-bearing plate close to the yaw-axis motor; the second end of the second Kevlar rope is connected to an end of the force-bearing plate away from the yaw-axis motor.

9. The tension spring ejection dart device based on the Robomaster competition according to claim 7, characterized in that: The loading mechanism includes a loading fixed frame, a first loading track, a second loading track, a loading slide rail, a synchronous wheel driving motor, a second main synchronous wheel, a second slave synchronous wheel, a second synchronous belt, a push plate, a steering gear, and a loading baffle; the bottom of the loading fixed frame is connected to the launching frame; The end of the top of the loading fixed frame away from the yaw axis motor is fixedly connected to the second loading track to enclose a dart launching area; the end of the second loading track away from the yaw axis motor is provided with a second opening; the loading slide rail is connected to the bottom of the second loading track and is provided corresponding to the second opening; the push plate is provided at the second opening and is slidably connected to the loading slide rail to push the dart to be launched at the second opening toward the first loading track; The first loading track is rotatably connected to one end of the top of the loading fixture close to the yaw axis motor so that the dart to be launched falls into the launching area; The synchronous wheel driving motor is connected to an end of the launching frame away from the yaw axis motor; the second main synchronous wheel is arranged on an end of the second loading track away from the yaw axis motor, and is connected to the output end of the synchronous driving motor; the second slave synchronous wheel is connected to an end of the second loading track close to the yaw axis motor; the second main synchronous wheel and the second slave synchronous wheel are connected by the second synchronous belt; the bottom of the push plate is fixedly connected to the second synchronous belt, so that the second synchronous belt drives the push plate to move on the loading slide rail; The loading baffle is connected to an end of the second loading track away from the second opening to prevent the dart to be launched from falling into the launching area; the servo includes a first servo and a second servo; the fixed end of the first servo is connected to the loading fixed frame, and the driving end of the first servo is connected to the first loading track to drive the first loading track to rotate; the fixed end of the second servo is connected to the loading fixed frame, and the driving end of the second servo is connected to the loading baffle to drive the loading baffle to rotate, so that the dart to be launched falls into the launching area.

10. The tension spring ejection dart device based on the Robomaster competition according to claim 8, characterized in that: The dart comprises a dart head, a dart battery installation printout, a battery-powered circuit board, a battery protection shell, a dart front end, a dart main wing, a dart rear end, and a dart tail wing; the dart head, the dart front end, and the dart rear end are connected in sequence; the dart battery installation printout, the battery-powered circuit board, and the battery protection shell connected in sequence are all arranged in the dart front end, and are respectively connected to the inner wall of the dart front end; the outer wall of the dart front end is hung with the limiter; the dart main wing and the dart tail wing are arranged at intervals at the dart rear end, and are fixedly connected to the dart rear end.

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