A thrower based on a steering engine and a method of using the same

Abstract

The application discloses a rudder-based throwing device and a using method thereof, which are convenient to use, accurate in striking and strong in adaptability. The rudder drives the connecting rod release surface of the release cam to leave the connecting rod; the release cam drives the push-pull cylinder to move backward to compress the throwing spring; after the push-pull cylinder moves to a position, the blocking iron hangs the blocking iron handle of the push-pull cylinder; the hand-throwing mine is loaded into the launching cylinder body, the hand-throwing mine presses the blocking block, the blocking block is rotated to leave a position, when the hand-throwing mine moves to a position, the blocking surface of the blocking block is reset and clamps the hand-throwing mine, and the hand-throwing mine safety pin is pulled out; the rudder drives the release cam to rotate, the connecting rod release surface of the release cam presses the connecting rod, the connecting rod drives the blocking block to move and leave the launching tube, the release cam continues to rotate, the blocking iron release surface of the release cam presses the blocking iron, the blocking iron is released from the blocking iron handle of the push-pull cylinder, and under the action of the throwing spring, the push-pull cylinder pushes the hand-throwing mine to pop out.

Description

Technical Field

[0001] This invention relates to the field of lightweight unmanned equipment throwing technology, and in particular to a servo motor-based throwing device and its usage method, mainly used for small multi-functional anti-terrorism / explosion-proof robots to throw hand-thrown grenades such as tear gas and flashbangs over short distances. Background Technology

[0002] With the rapid development of artificial intelligence and robotics, lightweight unmanned equipment is increasingly being used in the military and armed police fields. For example, small unmanned vehicles and robotic dogs, due to their flexibility, low cost, and high efficiency, are gradually becoming important tools for the armed police in carrying out high-risk missions. In urban counter-terrorism and clearing operations, small unmanned equipment is often used for operations such as breaching doors, reconnaissance, and throwing, to reduce personnel casualties and improve mission efficiency. Especially in building clearing operations, unmanned equipment is used to breach doors and then accurately throw and launch hand-thrown grenades within a 5-8 meter range inside the room. This also ensures that grenades launched too far will bounce and damage equipment. In recent years, with the continuous advancement of servo motor technology, servo motors, which are precision actuators integrating drive, control, and feedback, have advantages such as small size, light weight, high control precision, and strong operational flexibility. Applying servo motors to the design of throwing devices allows for multi-functional servo motors through programmed control, facilitating unmanned remote control and achieving lightweight and miniaturized throwing devices, which is currently a key research direction. In summary, this paper presents a novel four-tube launcher based on a servo motor and its operating method, which has significant practical implications and application value. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a servo motor-based projectile and its usage method, which is convenient to use, accurate in striking, and highly adaptable.

[0004] The objective of this invention is achieved as follows: A servo motor-based projectile launcher and its usage method include a launch tube (101), the inner hole of the launch tube (101) being a launch hole, the front part of the launch hole being used to load ammunition, and the rear part of the launch hole being provided with a projectile pusher (104), a projectile spring (102), and a projectile spring seat (103) in sequence from front to back. The projectile spring seat (103) is fixedly connected to the launch tube (101), the projectile pusher (104) is slidably engaged with the launch tube (101), a sear handle is provided radially on the surface of the projectile pusher (104), and a limiting groove is provided axially on the launch tube (101). The sear handle and the limiting groove are connected to each other. The groove slides and the limiting groove limits the front limit position of the sear handle. The sear (107) is hinged to the launching tube (101) by the sear pin (106). The sear pin (106) is fitted with a sear spring (105). The sear (107) has a driving end and an actuating end. Under the action of the sear spring (105), the actuating end of the sear (107) abuts against the sear handle of the push tube (104) to form an axial limit on the push tube (104). When the push tube (104) is in the axial limit state, the throwing spring (102) has a preload. The throwing spring (102) is used to provide power for throwing. A stop (1012) is hinged to the firing tube (101) via a stop shaft (1015). A stop spring (1014) is fitted onto the stop shaft (1015). One end of the stop (1012) has a blocking surface. Under the action of the stop spring (1014), the blocking surface extends into the firing hole, thus axially limiting the ammunition. A connecting rod shaft (1011) is laterally connected to the end of the stop (1012) with the blocking surface. A connecting rod (1010) is hinged to the firing tube (101). The connecting rod (1010) has a driving end and an actuating end. The actuating end of the connecting rod (1010) is connected to the connecting rod shaft (1011). A servo motor (109) is installed on the launch tube body (101). A release cam (108) is installed on the output shaft of the servo motor (109). The release cam (108) has a connecting rod release surface and a sear release surface. The driving end of the connecting rod (1010) contacts the connecting rod release surface of the release cam (108). The connecting rod release surface is used to drive the connecting rod (1010) to rotate, causing the blocking surface of the stop block (1012) to exit the launch hole and release the limit on the ammunition. The driving end of the sear (107) contacts the sear release surface of the release cam (108). The sear release surface is used to drive the sear (107) to rotate, causing the actuating end of the sear (107) to disengage from the sear handle of the push tube (104) and release the limit on the push tube (104).

[0005] Preferably, the launch tube (101) has four launch holes.

[0006] Preferably, the blocking surface of the stop (1012) is inclined outward, and under the action of the stop spring (1014), a self-locking mechanism is formed between the blocking surface of the stop (1012) and the ammunition.

[0007] Preferably, the actuator end of the connecting rod (1010) is provided with a strip hole, and the connecting rod shaft (1011) is slidably fitted in the strip hole to adapt to the movement trajectory of the connecting rod shaft (1011).

[0008] Preferably, the actuating end of the sear has a guide slope, which allows the actuating end of the sear to give way when the sear handle of the pusher tube (104) slides backward; when the sear handle of the pusher tube (104) slides forward, the actuating end of the sear (107) abuts against the sear handle of the pusher tube (104) to form a self-locking mechanism.

[0009] Preferably, the sear release surface and the connecting rod release surface of the release cam (108) are both gradient curve surfaces, and the area of ​​the sear release surface is smaller than the area of ​​the connecting rod release surface. When the servo motor (109) is working, the sear release surface presses the connecting rod first, and the sear release surface presses the sear later.

[0010] Preferably, a safety groove is provided longitudinally on the wall of the launching hole, the safety groove being used to embed the safety handle of the hand-thrown grenade.

[0011] A method for using a servo motor-based projectile launcher. The servo motor drives the release cam's connecting rod release surface to move away from the connecting rod; Push the blasting tube backward to compress the throwing spring. Once it is in place, the sear catches the sear handle of the blasting tube. Load the hand-thrown grenade into the launch tube. The hand-thrown grenade presses against the stop block, causing the stop block to rotate and move out of position. When the hand-thrown grenade moves into position, the blocking surface of the stop block returns to its original position and locks the hand-thrown grenade in place. Remove the safety pin of the hand-thrown grenade. The servo motor drives the release cam to rotate. The release cam's connecting rod release surface presses against the connecting rod, which in turn moves the stop block and clears the launch tube. The release cam continues to rotate, and the sear release surface of the release cam presses against the sear, disengaging the sear from the sear handle of the launcher. Under the action of the throwing spring, the launcher pushes the hand-thrown grenade out.

[0012] Due to the adoption of the above technical solution, the present invention has the following beneficial effects: This invention features a simple structural principle, convenient use, accurate throwing, and strong adaptability. It can be widely and directly used in light and small unmanned aerial vehicle platforms, with broad applications and good economic and social benefits. Attached Figure Description

[0013] Figure 1 Schematic diagram of the launcher; Figure 2 Schematic diagram of the launcher components; Figure 3Schematic diagram of the launch tube mechanism; Figure 4 Partial schematic diagram.

[0014] Figure Labels In the attached diagram, 101—launch tube body, 102—throwing spring, 103—throwing spring seat, 104—throwing tube, 105—sealer spring, 106—sealer pin, 107—sealer, 108—release cam, 109—servo motor, 1010—connecting rod, 1011—connecting rod shaft, 1012—stop block, 1013—stop block seat, 1014—stop block spring, 1015—stop block shaft. Detailed Implementation

[0015] The embodiments of the invention will now be described in further detail with reference to the accompanying drawings.

[0016] A servo-driven four-tube launcher for lightweight unmanned equipment comprises a launch tube 101, a launch spring 102, a launch spring seat 103, a launch tube 104, a sear spring 105, a sear pin 106, a sear 107, a release cam 108, a servo motor 109, a connecting rod 1010, a connecting rod shaft 1011, a stop block 1012, a stop block seat 1013, a stop block spring 1014, and a stop block shaft 1015. The launch tube is as follows... Figure 3 It adopts a four-group symmetrical structural layout, each group featuring four launch holes, safety slots, stop block slots, connecting rod slots, limit slots, sear slots, and servo mounting slots. Two connecting mounts are symmetrically arranged vertically. (For example...) Figure 2 As shown, four projectile pushers are installed at the rear of the launch tube. A throwing spring is installed in the hollow space of each pusher. The outer circle of the guide boss of the throwing spring seat matches the inner diameter of the throwing spring. After preloading the throwing spring, the throwing spring seat is fixed. Figure 4 As shown, the sear pin passes through the sear and the sear spring (torsion spring) and is installed in the sear groove of the launch tube. The sear can swing around the sear pin. Figure 2 As shown, the connecting rod is installed in the connecting rod slot using a stopper screw. The release cam is fixed to the servo shaft via a guide cam, and each servo is fixed to the launch tube body with four screws. The stop block seat is fixed to the stop block and stop block spring using a stop block shaft, and the stop block seat is fixed to the launch tube body with screws. The end of the connecting rod shaft is threaded, and the connecting rod shaft passes through the connecting rod rectangular frame, and is fixed to the stop block by the thread.

[0017] like Figure 1 The illustrated four-tube launcher based on a servo motor is mainly used for launching hand-thrown grenades with a safety handle. When in use, the safety handle of the hand-thrown grenade faces the safety slot in the launch tube. The safety slot restricts the up-down and left-right directions of the safety handle, ensuring the safety of the hand-thrown grenade before it is launched.

[0018] like Figure 3The launch tube adopts a symmetrical structural layout, with four launch holes, a safety slot, a stop block slot, a connecting rod slot, a limit slot, a sear slot, and a servo mounting slot arranged symmetrically. The launch holes are round holes, serving to guide the ammunition trajectory and the launch tube. The limit slots are square slots, with both sides restricting the sear handle of the launch tube, ensuring that the launch tube can only move back and forth and will not rotate; the front face of the limit slot is the sear handle limiting surface of the launch tube, restricting the forward movement of the launch tube.

[0019] like Figure 4 The projectile launcher adopts a cylindrical structure, with a pre-reserved loading area (projectile support area) at the front end according to the projectile type, and a cylindrical hole at the rear for mounting the spring. The throwing spring is a cylindrical compression spring, and the spring force is a key factor determining the throwing distance. Four projectile launchers are installed at the rear of the launch tube, with the sear handle of the launcher aligned with the sear groove. The throwing spring is installed in the spring mounting area of ​​each launcher, and the outer circle of the throwing spring seat guide boss mates with the inner diameter of the throwing spring. After pre-compressing the throwing spring, the throwing spring seat is fixed. After the projectile launcher compresses the throwing spring, it moves backward. The sear handle of the launcher engages with sear 107, and the launcher hangs at the rear. After the sear is released, the launcher moves forward to throw the ammunition.

[0020] like Figure 4 The sear employs a lever structure with a sear spring groove at its rear. The sear 107 and sear spring 105 are fixed to the launch tube by a sear pin 106. Under the action of the sear spring, the tail end of the sear deflects downwards, while the front end of the sear remains in contact with the release cam 108. The sear engages with the sear handle of the launch tube to form a self-locking structure, preventing the sear from disengaging from the launch tube due to vibration. When disengagement is required, the servo motor drives the release cam to rotate. The inner sear release surface of the release cam presses against the sear, causing the sear to swing around the sear pin and disengage its tail end from the sear handle of the launch tube.

[0021] like Figure 4 After the stop block 1012 and stop block spring 1014 are installed on the stop block seat using the stop block shaft 1015, the stop block seat is fixed to the front end of the launch tube body with screws. Under the action of the stop block spring, the stop block hooks inward towards the launch port, forming a self-locking structure. After the hand-thrown grenade is inserted into the launch tube body, the grenade's mounting surface is limited by the stop block's blocking surface, forming an axial limit on the hand-thrown grenade, preventing it from moving back and forth. This also ensures that the hand-thrown grenade will not slip out of the launch tube when the launcher is used at a negative angle.

[0022] like Figure 2 The connecting rod 1010 adopts a swing arm structure, and the front end of the connecting rod adopts a slotted structure. The connecting rod and the stop block are linked together by the connecting rod shaft 1011 in the slot. The connecting rod is installed on the launch tube body with a plug screw. Under the action of the stop block spring force, the stop block automatically drives the tail end of the connecting rod to always be in contact with the outer layer of the release cam. When the servo motor drives the release cam to rotate, the connecting rod release surface on the release cam presses the connecting rod, and the connecting rod drives the stop block to lift upward. The blocking surface of the stop block completely opens the launch tube hole, so that the hand-thrown grenade can be launched.

[0023] like Figure 2 The release cam 108 adopts a double-layer release surface structure. The sear release surface adopts a gradient curve surface, and the sear release surface area is smaller than the connecting rod release surface area. The connecting rod release surface adopts a gradient curve surface and is symmetrically distributed with the sear release surface. Its surface coverage area is larger than that of the sear release surface. During firing, it ensures that the sear release surface of the release cam presses the connecting rod first, releases the stop block first, and then ensures that the sear release surface of the release cam presses the sear. The sear releases the pusher tube, and the pusher tube moves forward rapidly under the action of the throwing spring, pushing the hand-thrown grenade out of the launch tube.

[0024] like Figure 1 The thrower uses an electronic control board to control the servo motor for safety and firing control. The default position is the safety position. In the safety position, the servo motor drives the release cam's connecting rod release surface to release the connecting rod. Before loading the hand-thrown grenade, the thrower pushes the grenades tube backward to compress the throwing spring. After moving to a certain position, the sear engages the sear handle of the grenades tube, completing the hook-up. The safety handle of the hand-thrown grenade is then inserted into the safety slot of the launch tube. The safety handle, in conjunction with the safety slot 101 of the launch tube, ensures that the hand-thrown grenade will not eject the safety. The bottom of the hand-thrown grenade is then loaded into the loading area of ​​the grenades tube. The blocking surface of the grenade loading stop automatically engages the hand-thrown grenade's blocking surface, restricting the grenade's movement in both axis and direction. After loading four grenades in sequence, the hand-thrown grenade safety pin is removed, completing the loading process. Firing is performed using an electronic control board program. The servo motor drives the release cam to rotate a certain angle. The outer connecting rod release surface of the release cam presses the connecting rod first, and the connecting rod drives the stop block to move upward, clearing the launch tube. At this time, the front safety is opened. The release cam continues to rotate a certain angle, and the inner sear release surface of the release cam presses the sear to swing. The sear is released from the sear of the pusher tube. Under the action of the throwing spring, the pusher tube pushes the hand-thrown grenade to be launched quickly. After the hand-thrown grenade leaves the launch tube, the safety handle automatically pops open, and the grenade explodes automatically a few seconds later. After firing one grenade, the servo automatically returns to its original position. It can complete the firing and throwing of 4 hand-thrown grenades in sequence.

[0025] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. A servo motor-based projectile launcher and its usage method, characterized in that: The device includes a launch tube, the inner hole of which is a launch hole. The front part of the launch hole is used to load ammunition. The rear part of the launch hole is provided with a pusher tube, a throwing spring, and a throwing spring seat from front to back. The throwing spring seat is fixedly connected to the launch tube. The pusher tube is slidably fitted to the launch tube. A sear handle is provided radially on the surface of the pusher tube. A limiting groove is provided axially on the launch tube. The sear handle is slidably fitted to the limiting groove, and the limiting groove limits the front limit position of the sear handle. A sear is hinged to the launch tube by a sear pin. A sear spring is fitted on the sear pin. The sear has a driving end and an actuating end. Under the action of the sear spring, the actuating end of the sear abuts against the sear handle of the pusher tube, forming an axial limit on the pusher tube. When the pusher tube is in the axially limited state, the throwing spring has a preload and is used to provide power for throwing. A stop block is hinged to the launch tube via a stop block shaft. A stop block spring is fitted onto the stop block shaft. One end of the stop block has a blocking surface. Under the action of the stop block spring, the blocking surface extends into the launch hole, axially limiting the ammunition. A connecting rod shaft is laterally connected to the end of the stop block with the blocking surface. A connecting rod is hinged to the launch tube. The connecting rod has a driving end and an actuating end. The actuating end of the connecting rod is connected to the connecting rod shaft. A servo motor is mounted on the launch tube, and a release cam is mounted on the output shaft of the servo motor. The release cam has a connecting rod release surface and a sear release surface. The driving end of the connecting rod contacts the connecting rod release surface of the release cam. The connecting rod release surface is used to drive the connecting rod to rotate, causing the blocking surface of the stop block to exit the launch hole and release the limitation on the ammunition. The driving end of the sear contacts the sear release surface of the release cam. The sear release surface is used to drive the sear to rotate, causing the actuating end of the sear to disengage from the sear handle of the launch tube and release the limitation on the launch tube.

2. The servo motor-based projectile launcher according to claim 1, characterized in that: The launch tube has four launch holes.

3. A servo motor-based projectile launcher according to claim 1, characterized in that: The blocking surface of the stop is tilted outward, and under the action of the stop spring, a self-locking mechanism is formed between the blocking surface of the stop and the ammunition.

4. A servo motor-based projectile launcher according to claim 1, characterized in that: The actuator end of the connecting rod is provided with a strip-shaped hole, and the connecting rod shaft slides within the strip-shaped hole to adapt to the movement trajectory of the connecting rod shaft.

5. A servo motor-based projectile launcher according to claim 1, characterized in that: The actuating end of the sear has a guide slope. When the sear handle of the pusher tube slides backward, it can make the actuating end of the sear give way. When the sear handle of the pusher tube slides forward, the actuating end of the sear abuts against the sear handle of the pusher tube to form a self-locking mechanism.

6. A servo motor-based projectile launcher according to claim 1, characterized in that: The sear release surface and the connecting rod release surface of the release cam both adopt a gradually changing curve surface, and the area of ​​the sear release surface is smaller than that of the connecting rod release surface. When the servo is working, the sear release surface presses the connecting rod first, and then the sear release surface presses the sear.

7. A servo motor-based projectile launcher according to claim 1, characterized in that: The wall of the launching hole is provided with a safety groove along the longitudinal direction, which is used to embed the safety handle of the hand-thrown grenade.

8. A method of using the servo-driven projectile launcher as described in claim 1, characterized in that: The servo motor drives the release cam's connecting rod release surface to move away from the connecting rod; Push the blasting tube backward to compress the throwing spring. Once it is in place, the sear catches the sear handle of the blasting tube. Load the hand-thrown grenade into the launch tube. The hand-thrown grenade presses against the stop block, causing the stop block to rotate and move out of position. When the hand-thrown grenade moves into position, the blocking surface of the stop block returns to its original position and locks the hand-thrown grenade in place. Remove the safety pin of the hand-thrown grenade. The servo motor drives the release cam to rotate. The release cam's connecting rod release surface presses against the connecting rod, which in turn moves the stop block and clears the launch tube. The release cam continues to rotate, and the sear release surface of the release cam presses against the sear, disengaging the sear from the sear handle of the launcher. Under the action of the throwing spring, the launcher pushes the hand-thrown grenade out.

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