Intelligent robot for autonomous confrontation between real soldier and live ammunition and target

Abstract

The utility model belongs to the technical field of target robots, and particularly relates to an intelligent real soldier live ammunition and target autonomous confrontation robot which comprises a bottom frame, a vertical frame and a target. A walking mechanism is arranged on the bottom frame, the vertical frame is fixedly connected with the bottom frame, the target is connected with the vertical frame in a sliding mode, and a reset spring is arranged between the target and the vertical frame. A driving mechanism connected with the target is arranged on the bottom frame, and the target is driven by the driving mechanism to move along the vertical frame; the driving mechanism comprises a fixed disc, a driving plate and a driving plate, the fixed disc is fixedly connected with the vertical frame, the driving plate is rotatably connected with the fixed disc, and the driving plate is rotatably connected with the driving plate or the fixed disc; the driving disc is connected with the driving plate through a one-way driving mechanism; the driving disc is connected with the target through a connecting piece; and the driving plate is connected with the walking mechanism through the transmission mechanism. The target is in sliding connection with the vertical frame, and the target is driven by the driving mechanism to move along the vertical frame, so that the height of the target is adjusted.

Description

Technical Field

[0001] The utility model belongs to the technical field of target robots, and particularly relates to a robot for intelligent live ammunition and target autonomous confrontation of actual soldiers. Background Art

[0002] At present, most of the traditional targets used in shooting training are fixed-position or fixed-track moving targets. Their positions and movement states are single, and they cannot simulate the dynamic changes of targets in actual combat, resulting in unsatisfactory training effects.

[0003] For example, an intelligent moving target device disclosed in the patent application number CN201720531550.5 can simulate the actual combat effect in the virtual space of the training ground. However, the height of its target is fixed. And a fully automatic moving target for shooting training disclosed in the patent application number CN201911093868.X also has a fixed target height.

[0004] The fixed target position cannot simulate the random movement and complex movement trajectories of targets in actual combat, cannot provide a real actual combat training environment for shooters, and thus reduces the training effect and is difficult to improve the reaction ability and hitting accuracy of shooters. Summary of the Utility Model

[0005] In view of the above technical problems, the utility model provides a robot for intelligent live ammunition and target autonomous confrontation of actual soldiers. The target of the robot can move up and down, which can increase the training difficulty, make the shooting training more in line with the actual combat requirements, and improve the reaction ability and hitting accuracy of shooters.

[0006] To solve the above technical problems, the technical solution adopted by the utility model is as follows:

[0007] A robot for intelligent live ammunition and target autonomous confrontation of actual soldiers, comprising a chassis, an upright frame and a target; a traveling mechanism is arranged on the chassis, the upright frame is fixedly connected with the chassis, the target is slidably connected with the upright frame, and a return spring is arranged between the target and the upright frame; a driving mechanism connected with the target is arranged on the chassis, and the target is driven to move along the upright frame through the driving mechanism;

[0008] The driving mechanism comprises a fixed disk, a dial and a driving disk. The fixed disk is fixedly connected with the upright frame, the dial is rotatably connected with the fixed disk, and the driving disk is rotatably connected with the dial or the fixed disk; the driving disk is connected with the dial through a one-way driving mechanism; the driving disk is connected with the target through a connecting member; the dial is connected with the traveling mechanism through a transmission mechanism.

[0009] The one-way driving mechanism comprises a ratchet disk and a pawl. The driving disk is fixedly connected with the ratchet disk, and a pawl cooperating with the ratchet disk is hinged on the dial; a spring is arranged between the pawl and the dial;

[0010] The fixed disk is provided with a guiding groove, and the guiding groove has a protruding portion; the pawl is provided with a guiding rod that cooperates with the guiding groove; when the guiding rod contacts the protruding portion, the pawl is separated from the ratchet disk.

[0011] The connecting member is a rope, one end of the rope is fixedly connected to the target, and the other end of the rope is fixedly connected to the driving disk and wound around the outside of the driving disk.

[0012] The outside of the driving disk is provided with a groove for winding the rope.

[0013] The transmission mechanism includes a transmission shaft and a gear set; the transmission shaft is rotatably connected to the chassis, one end of the transmission shaft is fixed with a worm, and the dial is fixedly connected with a worm gear that meshes with the worm; the traveling mechanism is connected and driven to the transmission shaft through the gear set.

[0014] A transmission sleeve connected to the gear set is sleeved on the transmission shaft, the transmission sleeve is rotatably connected to the chassis, and a fixing member is detachably connected between the transmission sleeve and the transmission shaft.

[0015] The fixing member is a fixing screw.

[0016] The traveling mechanism adopts a Mecanum wheel traveling mechanism.

[0017] The chassis is provided with a shooting assembly.

[0018] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0019] The target is slidably connected to the vertical frame and is driven by a driving mechanism to move along the vertical frame, realizing the adjustment of the height of the target. Compared with a target with a fixed height, the practicality and flexibility of training are further improved.

[0020] The elastic potential energy of the return spring is utilized to realize the automatic reset of the target. After the pawl is separated from the ratchet disk, the return spring releases the elastic potential energy to drive the target to move downward for reset. Thus, the up and down movement of the target is realized.

[0021] At the same time, the driving of the above target is provided by the movement of the traveling mechanism, so that an additional driving source can be saved; and the height changes during the movement, which can further increase the practicality and flexibility.

[0022] By setting a detachable fixing member, it is possible to flexibly control whether the target changes height along with the movement of the traveling mechanism to meet different training requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram in one direction of the present utility model;

[0024] Figure 2It is a schematic structural diagram of another direction of the present utility model;

[0025] Figure 3 It is Figure 2 a partial enlarged view of part A in

[0026] Figure 4 It is a schematic structural diagram of the driving mechanism and the transmission mechanism of the present utility model;

[0027] Figure 5 It is Figure 4 a cross-sectional view of the structure shown in one direction;

[0028] Figure 6 It is Figure 4 a cross-sectional view of the structure shown in another direction;

[0029] Figure 7 It is Figure 6 a partial enlarged view of part B in

[0030] Figure 8 It is a schematic internal structure diagram of the driving mechanism of the present utility model;

[0031] Figure 9 It is a schematic structural diagram of the fixed disk of the present utility model;

[0032] Figure 10 It is a schematic structural diagram of the pawl of the present utility model;

[0033] Wherein: 1 is the chassis, 2 is the vertical frame, 3 is the traveling mechanism, 30 is the wheel hub, 4 is the return spring, 5 is the driving mechanism, 50 is the fixed disk, 51 is the dial, 52 is the driving disk, 53 is the ratchet disk, 54 is the pawl, 55 is the connecting piece, 56 is the guide groove, 57 is the convex portion, 58 is the guide rod, 59 is the spring, 6 is the transmission mechanism, 60 is the transmission shaft, 61 is the gear set, 62 is the worm, 63 is the worm wheel, 64 is the transmission sleeve, 65 is the fixing member, 66 is the large gear, 67 is the small gear, 68 is the synchronizing shaft, 7 is the shooting assembly, 8 is the sensor assembly, and 9 is the target. Detailed implementation manners

[0034] The technical solutions in the embodiments of the present utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments.

[0035] As Figure 1-10 shown, an intelligent live ammunition and target autonomous confrontation robot includes a chassis 1, a vertical frame 2, and a target 9; a traveling mechanism 3 is provided on the chassis 1. The traveling mechanism 3 can adopt a common wheeled traveling mechanism 3, specifically a Mecanum wheel traveling mechanism. The chassis 1 is driven to move through the traveling mechanism 3.

[0036] The vertical frame 2 is fixedly connected to the bottom frame 1, the target 9 is slidably connected to the vertical frame 2, and a return spring 4 is provided between the target 9 and the vertical frame 2. The return spring 4 can all be a tension spring, and both ends of the tension spring are fixedly connected to the target 9 and the vertical frame 2 respectively. When the target 9 moves upward, it will stretch the tension spring to generate elastic potential energy.

[0037] A driving mechanism 5 connected to the target 9 is provided on the bottom frame 1, and the driving mechanism 5 drives the target 9 to move along the vertical frame 2. Compared with the existing target 9 with a fixed height, by moving the target 9, the shooting difficulty can be effectively increased and the training effect can be improved.

[0038] The driving mechanism 5 includes a fixed disk 50, a dial 51 and a driving disk 52. The fixed disk 50 is fixedly connected to the vertical frame 2, the dial 51 is rotatably connected to the fixed disk 50, and the driving disk 52 is rotatably connected to the dial 51 or the fixed disk 50. Specifically, the driving disk 52 is rotatably connected to the dial 51.

[0039] The dial 51 is connected to the traveling mechanism 3 through a transmission mechanism 6, that is, the traveling mechanism 3 provides power and drives the dial 51 to rotate through the transmission mechanism 6. The dial 51 drives the driving disk 52 to rotate through a one-way driving mechanism. When the driving disk 52 rotates, it drives the target 9 to move through a connecting member 55.

[0040] Furthermore, the one-way driving mechanism includes a ratchet disk 53 and a pawl 54. The driving disk 52 is fixedly connected to the ratchet disk 53, and there are several ratchets on the ratchet disk 53. A pawl 54 cooperating with the ratchet disk 53 is hinged on the dial 51; a spring 59 is provided between the pawl 54 and the dial 51, and the spring 59 can specifically be a torsion spring or a tension spring (a tension spring is used in the figure), and when the pawl 54 rotates, the torsion spring or the tension spring generates elastic potential energy.

[0041] When the traveling mechanism 3 moves backward (its wheel hub 30 rotates counterclockwise), the dial 51 rotates clockwise, and drives the driving disk 52 to rotate clockwise by abutting against the ratchets on the ratchet disk 53 through the pawl 54. When the driving disk 52 rotates clockwise, the driving disk 52 drives the target 9 to move upward through the connecting member 55, so that the return spring 4 generates elastic potential energy.

[0042] A guide groove 56 is provided on the fixed disk 50, and a convex portion 57 is provided on the guide groove 56. A guide rod 58 cooperating with the guide groove 56 is fixedly connected to the pawl 54. During the rotation of the dial 51, it will drive the pawl 54 and the ratchet disk 53 to rotate together. As the dial 51 rotates, the guide rod 58 will contact the convex portion 57 and push the pawl 54 to rotate, so that the pawl 54 is separated from the ratchet disk 53. When the pawl 54 is separated from the ratchet disk 53, the return spring 4 releases elastic potential energy to drive the target 9 to move downward and reset.

[0043] When the traveling mechanism 3 moves forward, the dial 51 rotates counterclockwise; the pawl 54 will rotate, and thus will not drive the ratchet wheel 53 and the driving disk 52 to rotate. At this time, the target 9 will not move and its height remains unchanged.

[0044] Furthermore, the connecting member 55 is a rope. One end of the rope is fixedly connected to the target 9, and the other end of the rope is fixedly connected to the driving disk 52 and wound around the driving disk 52. When the driving disk 52 rotates clockwise, the rope will be further wound around the driving disk 52, thereby pulling the target 9 to move upward. Specifically: a guide wheel connected to the rope is provided on the vertical frame 2, and one end of the rope bypasses the guide wheel and is fixedly connected to the target 9.

[0045] Furthermore, a groove for winding the rope is provided outside the driving disk 52, and the rope can be wound in the groove.

[0046] Furthermore, the transmission mechanism 6 includes a transmission shaft 60 and a gear set 61; the transmission shaft 60 is rotatably connected to the chassis 1 (a corresponding connecting seat is provided on the chassis 1), a worm 62 is fixed to one end of the transmission shaft 60, and a worm gear 63 meshing with the worm 62 is fixedly connected to the dial 51; the hub 30 in the traveling mechanism 3 is connected and driven to the transmission shaft 60 through the gear set 61.

[0047] Taking the Mecanum wheel traveling mechanism as an example, when the hub 30 of the Mecanum wheel rotates, the transmission shaft 60 is driven to rotate through the gear set 61. The worm 62 connected to the transmission shaft 60 meshes with the worm gear 63, and then drives the dial 51 to rotate accordingly.

[0048] Furthermore, a transmission sleeve 64 connected to the gear set 61 is sleeved on the transmission shaft 60. The transmission sleeve 64 is rotatably connected to the chassis 1, and a fixing member 65 is detachably connected between the transmission sleeve 64 and the transmission shaft 60. When the transmission sleeve 64 and the transmission shaft 60 are connected through the fixing member 65, the hub 30 drives the transmission shaft 60 to rotate through the gear set 61 and the transmission sleeve 64 when rotating.

[0049] After removing the fixing member 65, the transmission sleeve 64 and the transmission shaft 60 can rotate relative to each other, that is, when the hub 30 rotates, only the transmission sleeve 64 can be driven to rotate, and the transmission shaft 60 will not be driven to rotate. Therefore, after removing the fixing member 65, no matter whether the traveling mechanism 3 moves forward or backward, the transmission shaft 60 will not be driven to rotate, that is, the target 9 will not move.

[0050] The gear set 61 can be set according to the actual situation as long as it can transmit power. Specifically, the following structure can be adopted. It includes a large gear 66, a small gear 67 and a synchronizing shaft 68. The large gear 66 is fixedly connected to the hub 30. The synchronizing shaft 68 is rotatably connected to the chassis 1. One end of the small gear 67 is fixedly connected to the synchronizing shaft 68 and meshes with the large gear 66. Conical gears are fixed to the other end of the synchronizing shaft 68 and on the transmission sleeve 64, and the two conical gears mesh with each other.

[0051] Furthermore, the fixing member 65 is a fixing screw. Corresponding threaded holes are provided on the transmission sleeve 64. When one end of the fixing screw passes through the threaded hole and abuts against the transmission shaft 60, the fixation between the two is achieved. Conversely, removing the fixing screw realizes the separation (relative rotation) between the two.

[0052] Furthermore, a shooting assembly 7 is provided on the chassis 1. The shooting assembly 7 can specifically adopt the structure in the existing technology. Specifically, a shooting assembly with a friction wheel in the existing technology can be adopted, such as the shooting mechanism adopted in a shooting mechanism, shooting robot and shooting method with the patent application number 202410121914.7. At the same time, the robot can be driven in a remote control manner; a vision recognition sensor (sensor assembly 8) can also be set to achieve automatic aiming and shooting, such as the pan-tilt transmitter in a pan-tilt transmitter and its automatic recognition and aiming system with the patent application number 201710190046.8.

[0053] Only the preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments.

Claims

1. An intelligent robot for actual combat and live ammunition and autonomous confrontation with targets, characterized in that: It includes a chassis (1), an upright frame (2) and a target (9); a traveling mechanism (3) is provided on the chassis (1), the upright frame (2) is fixedly connected to the chassis (1), the target (9) is slidably connected to the upright frame (2), and a return spring (4) is provided between the target (9) and the upright frame (2); a driving mechanism (5) connected to the target (9) is provided on the chassis (1), and the target (9) is driven to move along the upright frame (2) by the driving mechanism (5). The driving mechanism (5) includes a fixed disk (50), a dial (51) and a driving disk (52), the fixed disk (50) is fixedly connected to the upright frame (2), the dial (51) is rotatably connected to the fixed disk (50), and the driving disk (52) is rotatably connected to the dial (51) or the fixed disk (50); the driving disk (52) is connected to the dial (51) through a one-way driving mechanism; the driving disk (52) is connected to the target (9) through a connecting member (55); the dial (51) is connected to the traveling mechanism (3) through a transmission mechanism (6).

2. The intelligent live-fire and target autonomous confrontation robot according to claim 1, characterized in that: The one-way driving mechanism includes a ratchet disk (53) and a pawl (54), the driving disk (52) is fixedly connected to the ratchet disk (53), and a pawl (54) cooperating with the ratchet disk (53) is hinged on the dial (51); a spring (59) is provided between the pawl (54) and the dial (51). A guiding groove (56) is provided on the fixed disk (50), and a protruding portion (57) is provided on the guiding groove (56); the pawl (54) is provided with a guiding rod (58) cooperating with the guiding groove (56); when the guiding rod (58) contacts the protruding portion (57), the pawl (54) is separated from the ratchet disk (53).

3. The intelligent live-fire and target autonomous confrontation robot according to claim 2, wherein: The connecting member (55) is a rope, one end of the rope is fixedly connected to the target (9), and the other end of the rope is fixedly connected to the driving disk (52) and wound outside the driving disk (52).

4. The intelligent robot for actual combat with live ammunition and autonomous confrontation with targets according to claim 3, wherein: A groove for winding the rope is provided outside the driving disk (52).

5. The intelligent live-fire and live-ammunition robot for autonomous confrontation with targets according to claim 1, characterized in that: The transmission mechanism (6) includes a transmission shaft (60) and a gear set (61); the transmission shaft (60) is rotatably connected to the chassis (1), a worm (62) is fixed at one end of the transmission shaft (60), and a worm gear (63) meshing with the worm (62) is fixedly connected to the dial (51); the traveling mechanism (3) is connected and transmitted to the transmission shaft (60) through the gear set (61).

6. The intelligent live ammunition and target autonomous confrontation robot according to claim 5, wherein: A transmission sleeve (64) connected to the gear set (61) is sleeved on the transmission shaft (60), the transmission sleeve (64) is rotatably connected to the chassis (1), and a fixing member (65) is detachably connected between the transmission sleeve (64) and the transmission shaft (60).

7. The intelligent live-fire and target autonomous confrontation robot according to claim 6, characterized in that: The fixing member (65) is a fixing screw.

8. The intelligent robot for actual combat with live ammunition and autonomous confrontation with targets according to claim 1, wherein: The traveling mechanism (3) adopts a Mecanum wheel traveling mechanism.

9. The intelligent robot for actual combat with live ammunition and autonomous confrontation with targets according to claim 1, characterized in that: A shooting assembly (7) is provided on the chassis (1).

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