Throwing robot
By designing the throwing robot, using the McNum wheel walking mechanism and the ammunition supply mechanism, combined with the control trigger assembly and adjustment frame, the accuracy and safety problems of traditional manual throwing are solved, and the rapid and accurate ammunition throwing in complex environments is achieved.
Patent Information
- Application Number
- CN202520754014.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-21
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2035-04-21
AI Technical Summary
The traditional manual throwing method has insufficient accuracy and safety, especially in dangerous or complex environments, posing a threat to personnel, making it difficult to achieve accurate and safe throwing.
A throwing robot is designed, using the McNum wheel walking mechanism, the ammunition supply mechanism and the control trigger assembly to achieve orderly ammunition supply and precise throwing of ammunition. The throwing angle is adjusted through the adjustment frame, combined with the launching spring and motor drive, to ensure the stable launch and rapid reset of ammunition.
It improves the mobility and adaptability of the equipment in complex terrain and narrow spaces, achieves fast and accurate ammunition throwing, avoids clamping and multi-projection phenomena, and meets the throwing needs in different scenarios.
Smart Images
Figure CN223166022U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of throwing devices, and particularly relates to a throwing robot. Background Art
[0002] In many fields, such as security, rescue, military and other scenarios, it is often necessary to accurately throw specific items. The traditional manual throwing method has many disadvantages. On the one hand, the accuracy of manual throwing is greatly affected by individual differences, physical strength, environmental factors, etc. of the personnel, and it is difficult to ensure that each throw can accurately hit the target. On the other hand, in some dangerous environments, such as scenarios with explosion risks, bad weather or complex terrains, manual throwing poses a serious threat to the safety of personnel. Content of the Utility Model
[0003] In view of the above technical problems, the utility model provides a throwing robot, which has a feeding mechanism and a control trigger assembly, and can realize orderly feeding and throwing.
[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is as follows:
[0005] A throwing robot includes a chassis, a throwing frame and a feeding cylinder. A traveling mechanism is provided on the chassis; the throwing frame is arranged on the chassis, and the feeding cylinder is fixedly arranged on the throwing frame; a feeding mechanism is provided on the feeding cylinder; a firing plate is slidably connected to the throwing frame, and a firing spring is arranged between the firing plate and the throwing frame.
[0006] A throwing cylinder is fixed on the firing plate, and the ammunition in the feeding cylinder enters the throwing cylinder through an opening at one end thereof; a control trigger assembly for connecting with the firing plate is provided on the throwing frame.
[0007] An adjusting frame connected to the throwing frame is provided on the chassis; the adjusting frame includes a support frame, a movable frame and a sliding frame. The lower end of the support frame is fixedly connected to the chassis, the lower end of the movable frame is hinged to the chassis, the upper end of the movable frame is hinged to the sliding frame, and the upper end of the support frame is hinged to the throwing frame; the sliding frame is slidably connected to the throwing frame, and a first linear movement mechanism for driving the sliding frame to move is provided on the throwing frame.
[0008] The first linear movement mechanism adopts a lead screw nut mechanism.
[0009] A support seat connected to the feeding mechanism is fixed on the feeding cylinder. The feeding mechanism includes a dial rod shaft and a driving motor. The dial rod shaft is rotatably connected to the support seat. A plurality of baffles arranged at intervals are provided on the dial rod shaft. An opening groove matched with the baffles is provided on the feeding cylinder; notches are provided on each baffle and the notches on each baffle are arranged staggeredly; the driving motor is connected to the dial rod shaft.
[0010] The driving motor is connected to the lever shaft through a gear transmission mechanism.
[0011] A cover plate is detachably connected to the side of the cartridge feeder.
[0012] The firing spring is any one of a clockwork spring, a tension spring or a constant force spring.
[0013] The control trigger assembly includes a connecting plate, a hook plate and a lever. The connecting plate is slidably connected to the throwing frame, and a second linear movement mechanism is provided between the connecting plate and the throwing frame; the hook plate is hinged to the connecting plate, and a return spring is provided at the hinge; one end of the hook plate is used to connect to the firing plate, and a corresponding card slot is provided on the firing plate;
[0014] A control motor is provided on the connecting plate. The lever is fixedly connected to the output shaft of the control motor, and the end of the lever contacts the other end of the hook plate.
[0015] Compared with the prior art, the beneficial effects of the present utility model are:
[0016] The throwing robot adopts a Mecanum wheel walking mechanism, has the ability of omnidirectional movement, can flexibly shuttle in complex terrains and narrow spaces, and can quickly and accurately move to the required throwing position, greatly improving the mobility and adaptability of the equipment and expanding its application range.
[0017] The feeding mechanism realizes the sequential feeding of ammunition one by one through the cooperation of the baffle on the lever shaft and the opening slot of the cartridge feeder, and the precise control of the driving motor. Under the action of gravity, the ammunition can be smoothly discharged, and by controlling the relative position of the baffle notch and the opening slot, the problems of cartridge jamming and multiple ammunition being thrown at the same time can be effectively avoided.
[0018] By driving the lead screw to rotate by the motor, the movement of the sliding frame is realized, and then the angle of the throwing frame is changed. The operation is simple and the adjustment accuracy is high. The initial angle of throwing can be quickly adjusted according to the target position and throwing requirements, increasing the flexibility and diversity of throwing and meeting the throwing requirements in different scenarios.
[0019] The launching device uses a clockwork spring, a tension spring or a constant force spring etc. as the power source, has a simple structure, low cost and is convenient to maintain. The cooperation of the control trigger assembly and the firing spring realizes the stable movement of the firing plate and the rapid throwing of the ammunition. At the same time, through the coordinated work of the second linear movement mechanism and the control motor etc., rapid reset and reloading can be realized after launching, preparing for the next projection. Description of the Drawings
[0020] Figure 1 is the overall structural schematic diagram of the present utility model;
[0021] Figure 2 is Figure 1Partial enlarged view at A in the [figure / device];
[0022] Figure 3 is the front view of the present utility model;
[0023] Figure 4 is the structural schematic diagram of one direction of the throwing rack of the present utility model;
[0024] Figure 5 is the structural schematic diagram of another direction of the throwing rack of the present utility model;
[0025] Figure 6 is Figure 5 the partial enlarged view at B in the [figure / device];
[0026] Figure 7 is the structural schematic diagram of the throwing tube of the present utility model;
[0027] Figure 8 is the structural schematic diagram of the launching plate of the present utility model;
[0028] Figure 9 is the structural schematic diagram of the connection between the control trigger assembly and the throwing rack of the present utility model;
[0029] Figure 10 is the structural schematic diagram of the control trigger assembly of the present utility model;
[0030] Figure 11 is the structural schematic diagram of one direction of the feeding mechanism of the present utility model;
[0031] Figure 12 is the structural schematic diagram of another direction of the feeding mechanism of the present utility model;
[0032] Wherein: 1 is the chassis, 2 is the throwing rack, 3 is the feeding cylinder, 30 is the support, 31 is the opening groove, 32 is the cover plate, 4 is the traveling mechanism, 5 is the feeding mechanism, 50 is the lever shaft, 51 is the driving motor, 52 is the baffle, 53 is the notch, 6 is the launching plate, 60 is the card slot, 7 is the launching spring, 8 is the throwing tube, 9 is the control trigger assembly, 90 is the connecting plate, 91 is the hook plate, 92 is the lever, 93 is the second linear movement mechanism, 94 is the return spring, 95 is the control motor, 10 is the adjusting frame, 100 is the support frame, 101 is the movable frame, 102 is the sliding frame, 103 is the first linear movement mechanism. Specific embodiments
[0033] The technical solutions in the embodiments of the present utility model will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.
[0034] As Figure 1-12As shown in the figure, a throwing robot includes a chassis 1, a throwing frame 2, and a feeding cylinder 3. A traveling mechanism 4 is provided on the chassis 1, and the traveling mechanism 4 preferably adopts a Mecanum wheel traveling mechanism.
[0035] The throwing frame 2 is arranged on the chassis 1, and the feeding cylinder 3 is fixedly arranged on the throwing frame 2; a feeding mechanism 5 is provided on the feeding cylinder 3, and the ammunition (such as rubber balls, metal balls, etc.) in the feeding cylinder 3 is discharged one by one through the feeding mechanism 5. A firing plate 6 is slidably connected to the throwing frame 2, and a firing spring 7 is provided between the firing plate 6 and the throwing frame 2. The elastic potential energy of the firing spring 7 provides the power for the firing plate 6 to move. The sliding connection between the firing plate 6 and the throwing frame 2 can be specifically realized through a guide rail assembly.
[0036] A throwing cylinder 8 is fixed on the firing plate 6, and the ammunition in the feeding cylinder 3 enters the throwing cylinder 8 through an opening at one end thereof; a control trigger assembly 9 for connecting with the firing plate 6 is provided on the throwing frame 2.
[0037] When throwing, the whole is driven by the traveling mechanism 4 to move to the required throwing position; then the firing plate 6 is released through the control trigger assembly 9, and the firing plate 6 is driven to move under the action of the firing spring 7, and finally the ammunition in the throwing cylinder 8 is thrown out.
[0038] Furthermore, an adjusting frame 10 connected to the throwing frame 2 is provided on the chassis 1; the adjusting frame 10 includes a support frame 100, a movable frame 101, and a sliding frame 102. The lower end of the support frame 100 is fixedly connected to the chassis 1, the lower end of the movable frame 101 is hinged to the chassis 1, and there is a gap between the support frame 100 and the movable frame 101. The upper end of the movable frame 101 is hinged to the sliding frame 102, and the upper end of the support frame 100 is hinged to the throwing frame 2; the sliding frame 102 is slidably connected to the throwing frame 2, and a first linear movement mechanism 103 for driving the sliding frame 102 to move is provided on the throwing frame 2.
[0039] The sliding frame 102 is driven to move through the first linear movement mechanism 103, so as to change the inclination angle of the throwing frame 2, that is, change the initial angle during throwing.
[0040] Furthermore, the first linear movement mechanism 103 preferably adopts a lead screw and nut mechanism; it includes a lead screw and a nut. The two ends of the lead screw are rotatably connected to the throwing frame 2, the nut is threadedly connected to the lead screw and fixedly connected to the sliding frame 102. The lead screw is connected to a motor, the output shaft of the motor is fixedly connected to the lead screw, and the housing of the motor is fixedly connected to the throwing frame 2; by rotating the lead screw, the movement of the sliding frame 102 is realized, and further the angle adjustment of the throwing frame 2 is realized.
[0041] Further, a support 30 connected to the feeding mechanism 5 is fixed on the feeding cylinder 3. The feeding mechanism 5 includes a lever shaft 50 and a driving motor 51. The lever shaft 50 is rotatably connected to the support 30. A plurality of baffles 52 are arranged at intervals on the lever shaft 50. An opening groove 31 cooperating with the baffle 52 is provided on the feeding cylinder 3. Notches 53 are provided on each baffle 52 and the notches 53 on each baffle 52 are staggered. The housing of the driving motor 51 is fixedly connected to the support 30, and the output shaft of the driving motor 51 is connected to the lever shaft 50. The spacing between the adjacent baffles 52 is greater than the size of the ammunition, that is, one ammunition is stored between two adjacent baffles 52.
[0042] When the notch 53 of the baffle 52 is opposite to the opening groove 31 of the feeding cylinder 3, the ammunition in the feeding cylinder 3 will not be blocked and can be discharged; on the contrary, the side of the baffle 52 extends into the feeding cylinder 3 through the opening groove 31, thereby blocking the ammunition and restricting its discharge.
[0043] Specifically: The feeding cylinder 3 is arranged vertically and obliquely, and the ammunition is discharged under the action of gravity. When discharging, the driving motor 51 drives the lever shaft 50 to rotate, so that the notch 53 on the lowermost baffle 52 (the first baffle 52) is opposite to the opening groove 31 of the feeding cylinder 3, and the lowermost first ammunition is discharged; the rest of the baffles 52 block the ammunition. When the second ammunition needs to be discharged, the driving motor 51 drives the lever 92 to rotate, so that the notch 53 on the second baffle 52 is opposite to the opening groove 31 of the feeding cylinder 3, and the second ammunition falls and is blocked by the first baffle 52; then according to the above steps, control the notch 53 on the lowermost baffle 52 (the first baffle 52) to be opposite to the opening groove 31 of the feeding cylinder 3 to discharge the second ammunition. The discharging process of the rest of the ammunition is the same. By controlling the notch 53 on the baffle 52 to be opposite to the opening groove 31 one by one, the ammunition is discharged in sequence.
[0044] Further, the driving motor 51 is connected to the lever shaft 50 through a gear transmission mechanism; that is, gears are fixed on the output shaft of the driving motor 51 and the lever shaft 50 respectively, and the two gears are meshed with each other.
[0045] Further, a cover plate 32 is detachably connected to the side of the feeding cylinder 3. After the ammunition is fired, the cover plate 32 is opened for loading the ammunition, and the ammunition is respectively loaded between the baffles 52.
[0046] Further, the launching spring 7 is any one of a clockwork spring (coil spring), a tension spring or a constant force spring. Specifically, a connecting shaft is fixed on the throwing frame 2. When using a clockwork spring or a constant force spring, the clockwork spring or the constant force spring is sleeved outside the connecting shaft; the other end of the clockwork spring or the constant force spring is fixedly connected to the launching plate 6. When using a tension spring, the two ends of the tension spring are respectively hinged to the connecting shaft and the launching plate 6.
[0047] Further, the control trigger assembly 9 includes a connecting plate 90, a hook plate 91, and a lever 92. The connecting plate 90 is slidably connected to the throwing frame 2, and a second linear movement mechanism 93 is provided between the connecting plate 90 and the throwing frame 2. The connecting plate 90 is driven to move along the throwing frame 2 by the second linear movement mechanism 93. Similarly, the second linear movement mechanism 93 can also adopt a lead screw and nut mechanism, which includes a lead screw and a nut. The two ends of the lead screw are respectively rotatably connected to the throwing frame 2, the nut is threadedly connected to the lead screw and fixed to the connecting plate 90. The lead screw is connected to a motor, the output shaft of the motor is fixedly connected to the lead screw, and the housing of the motor is fixedly connected to the throwing frame 2.
[0048] The hook plate 91 is hinged to the connecting plate 90, and a return spring 94 is provided at the hinge. The return spring 94 can specifically adopt a torsion spring. One end of the hook plate 91 is connected to the firing plate 6, and a corresponding card slot 60 is provided on the firing plate 6. One end of the hook plate 91 can be inserted into the card slot 60.
[0049] A control motor 95 is provided on the connecting plate 90. The housing of the control motor 95 is fixedly connected to the connecting plate 90. The lever 92 is fixedly connected to the output shaft of the control motor 95, and the end of the lever 92 contacts the other end of the hook plate 91.
[0050] During firing, the output shaft of the control motor 95 drives the lever 92 to rotate and contacts the other end of the hook plate 91 to cause the hook plate 91 to rotate (the return spring 94 generates elastic potential energy). One end of the hook plate 91 is separated from the card slot 60 of the firing plate 6; the firing plate 6 is driven to move under the action of the firing spring 7.
[0051] When firing again, the second linear movement mechanism 93 drives the connecting plate 90 to move upward. When it moves to the position of the firing plate 6; the output shaft of the control motor 95 drives the lever 92 to rotate in the reverse direction. Under the action of the return spring 94, the hook plate 91 rotates in the reverse direction, and one end of it is clamped with the card slot 60. Then, the second linear movement mechanism 93 drives the connecting plate 90 to move downward and drives the firing plate 6 to move downward accordingly (the firing spring 7 generates elastic potential energy). Finally, the feeding mechanism 5 feeds the ammunition in the feeding cylinder 3 into the throwing cylinder 8 through one of its openings to prepare for the next projection.
[0052] 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. A throwing robot, characterized in that: It includes a chassis (1), a throwing frame (2) and a cartridge feeder (3). A traveling mechanism (4) is provided on the chassis (1); the throwing frame (2) is arranged on the chassis (1), and the cartridge feeder (3) is fixedly arranged on the throwing frame (2); a feeding mechanism (5) is provided on the cartridge feeder (3); a firing plate (6) is slidably connected to the throwing frame (2), and a firing spring (7) is arranged between the firing plate (6) and the throwing frame (2). A throwing cylinder (8) is fixed on the firing plate (6), and the ammunition in the cartridge feeder (3) enters the throwing cylinder (8) through an opening at one end thereof; a control trigger assembly (9) for connecting with the firing plate (6) is provided on the throwing frame (2).
2. The catapult robot according to claim 1, wherein: An adjusting frame (10) connected to the throwing frame (2) is provided on the chassis (1); the adjusting frame (10) includes a support frame (100), a movable frame (101) and a sliding frame (102). The lower end of the support frame (100) is fixedly connected to the chassis (1), the lower end of the movable frame (101) is hinged to the chassis (1), the upper end of the movable frame (101) is hinged to the sliding frame (102), and the upper end of the support frame (100) is hinged to the throwing frame (2); the sliding frame (102) is slidably connected to the throwing frame (2), and a first linear movement mechanism (103) for driving the sliding frame (102) to move is provided on the throwing frame (2).
3. The throwing robot according to claim 2, characterized in that: The first linear movement mechanism (103) adopts a lead screw nut mechanism.
4. The throwing robot according to claim 1, characterized in that: A support (30) connected to the feeding mechanism (5) is fixed on the cartridge feeder (3). The feeding mechanism (5) includes a dial rod shaft (50) and a driving motor (51). The dial rod shaft (50) is rotatably connected to the support (30). A plurality of baffles (52) arranged at intervals are provided on the dial rod shaft (50). An opening groove (31) cooperating with the baffles (52) is provided on the cartridge feeder (3); notches (53) are provided on each baffle (52), and the notches (53) on each baffle (52) are staggered; the driving motor (51) is connected to the dial rod shaft (50).
5. The throwing robot according to claim 4, wherein: The driving motor (51) is connected to the dial rod shaft (50) through a gear transmission mechanism.
6. The throwing robot according to claim 1, wherein: A cover plate (32) is detachably connected to the side of the cartridge feeder (3).
7. The throwing robot according to claim 1, wherein: The firing spring (7) adopts any one of a clockwork spring, a tension spring or a constant force spring.
8. The throwing robot according to claim 1, wherein: The control trigger assembly (9) includes a connecting plate (90), a hook plate (91) and a dial rod (92). The connecting plate (90) is slidably connected to the throwing frame (2), and a second linear movement mechanism (93) is arranged between the connecting plate (90) and the throwing frame (2); the hook plate (91) is hinged to the connecting plate (90), and a return spring (94) is arranged at the hinge; one end of the hook plate (91) is used for connecting with the firing plate (6), and a corresponding card slot (60) is provided on the firing plate (6). A control motor (95) is provided on the connecting plate (90). The dial rod (92) is fixedly connected to the output shaft of the control motor (95), and the end of the dial rod (92) contacts the other end of the hook plate (91).