Spring tube feeding device and robot

Abstract

The utility model discloses a spring tube feeding device and robot relates to feeding technology field, including launching mechanism, spring tube and rotary support frame, rotary support frame inside is provided with guide ball passageway, spring tube is connected with the guide ball passageway to launching mechanism, spring tube can produce deformation with the angle change of cooperation launching mechanism, the both ends of spring tube are fixed in first fixed part and second fixed part through inlaying hole position, the upper protruding of first fixed part, lower protruding and tensioning spare are used for fixedly clamping spring, and the female notch of second fixed part provides the transition space of spring tube deformation, and the reverse arc surface of first fixed part and second fixed part avoids extruding spring to lead to the problem of jamming, and the countersunk hole of first fixed part and the protruding mounting spare of second fixed part guarantee the firmness of spring tube fixed connection, solve the problem that the existing feeding device has the structure of miscellaneous, and the energy consumption is high, and the launching precision is low, and the launching angle range is small, and the spring is easy to jam.

Description

Technical Field

[0001] This utility model relates to the field of ammunition feeding technology, and more specifically, to a spring tube ammunition feeding device and robot. Background Technology

[0002] In recent years, with the rapid development of robot combat competitions, in RoboMaster, infantry need to have extremely high mobility and flexibility, as well as stable output capabilities. If a jamming problem occurs, one less firepower will be lost, which is quite disadvantageous to the situation on the field.

[0003] Currently, infantry firing systems employ three feeding methods: top-feed, semi-bottom-feed, and bottom-feed. Top-feed systems have a short and simple feed path, with the magazine located on the firing mechanism. However, the firing mechanism is heavy, and its center of gravity changes with the number of projectiles, making it difficult to control the gimbal. Semi-bottom-feed systems also have similar problems. The high weight of the gimbal results in a high center of gravity for the entire vehicle, and the gimbal has a large moment of inertia, leading to a slow response speed.

[0004] The transition schemes used in the bottom-feed gooseneck launcher include double slides, no transition, and nylon cable ties. The double slide scheme is limited by the elevation angle determined during the design. During launch, the cross-section of the slide at the exit can easily generate great resistance to the projectile, leading to jamming. Adding bearings or other structures to the slide or launch channel makes the structure cumbersome, increases the weight of the gimbal, and slows down the response speed. The no-transition scheme can only achieve small elevation angle changes, and the jamming rate is extremely high when the elevation angle is greater than 20 degrees. The nylon cable tie scheme has low strength and high requirements for the fixation of the cable ties. Care must be taken to control the length and limit of the cable ties at the connection. If the projectile blocks the projectile in other places, the cable tie connection will be pushed open by the projectile, which is not suitable for the high-intensity competition environment that requires flying over slopes, going down slopes, and collisions.

[0005] In summary, existing ammunition feeding gimbal devices cannot adapt to the high-intensity and high-firepower competition environment. There is a lack of technical solutions that can both address the shortcomings of high center of gravity and large moment of inertia of the gimbal, and achieve a simple structure, a wide range of firing angles, and no ammunition jamming. Utility Model Content

[0006] The present invention aims to overcome at least one of the defects of the prior art and provide a spring tube feeding device and robot to solve the problems of easy jamming, low firing accuracy and small firing angle range in the existing feeding devices.

[0007] The technical solution adopted by this utility model is a spring tube feeding device, including a launching mechanism and a rotating support frame. The launching mechanism is provided with a projectile discharge channel inside, and the rotating support frame is provided with a ball guide channel inside. The launching mechanism can rotate relative to the rotating support frame in a pitch angle, and the rotating support frame can rotate in a horizontal plane. The projectile discharge channel and the ball guide channel are connected by a spring tube, and the spring tube is in a stretched state and can deform in accordance with the angle change of the launching mechanism.

[0008] In this design, the ball guide channel connects the spring tube and the ball-feeding assembly. The ball guide channel is made of a rigid material; optionally, the inner wall of the channel can be made of carbon tubing, carbon plate, Teflon tubing, Teflon plate, POM plate, or other materials with a low coefficient of friction. Bearings can be used for connection, which helps reduce resistance, prevents jamming, and improves the projectile's throughput. The ball guide channel and spring tube together form the projectile's delivery path, shortening the feed path and achieving faster and more stable firepower output. The launching mechanism can rotate relative to the rotating support frame in the pitch angle, and the rotating support frame can rotate relative to it in the horizontal plane, expanding the launching angle and achieving flexible output. The spring tube connects the projectile exit channel and the ball guide channel, and can deform accordingly when the launching mechanism's pitch angle changes, adapting to the projectile's launch curve and possessing high... The system is stable and adaptable to high-intensity competition environments requiring steep inclines, steep declines, and impacts, achieving low resistance, high passability, a wide range of launch angles, high fault tolerance, and good stability. The spring tube is in a stretched state, with a horizontal pre-stretch of 25%-32% of its original length after fixed installation. When the pitch angle of the launching mechanism changes, the pre-stretch tension drives the spring tube to actively adapt and generate natural deformation, maintaining the unobstructed feed path and adapting to a wide range of pitch angle adjustments. This reduces collisions and friction between the projectile and the inner wall of the spring tube, preventing the spring tube from slackening and causing local collapse, and preventing the inner ring of the spring tube from being squeezed and deformed or excessively bent due to lack of space, which could lead to projectile jamming. The stretched spring tube generates tensile stress, improving its resistance to external impacts and adapting to high-intensity competition environments.

[0009] Preferably, a pitch axis motor and a linear actuator are mounted on the rotating support frame. These two motors jointly control the up-and-down swing of the launching mechanism to achieve different pitch angles, providing greater power and dynamics, improving energy conversion efficiency, reducing energy consumption, and simultaneously reducing the load on the pitch axis motor. This results in higher precision and reliability control, improving launch accuracy. A yaw axis motor is also mounted at the bottom of the rotating support frame to control its rotation on the horizontal plane, expanding the launch range. A ball-feeding assembly is located below the rotating support frame for sorting and supplying projectiles.

[0010] Optionally, the launching mechanism further includes a friction wheel assembly and an aiming assembly. The friction wheel assembly consists of two sets, symmetrically arranged on both sides of the rear of the projectile ejection channel, used to rub and compress the projectile, providing the projectile with initial velocity and acceleration. The aiming assembly is mounted on the friction wheel assembly, with a simple and compact structure, effectively reducing the weight of the gimbal, reducing the moment of inertia of the gimbal, and improving the response speed. The aiming assembly is used to aim at the target position, which is conducive to accurately striking fixed positions, improving launching accuracy and stable firepower output.

[0011] Furthermore, the spring tube is fixedly connected by a first fixing member and a second fixing member. The first fixing member connects the spring tube to the ejection channel, and the second fixing member connects the spring tube to the ball guide channel. The first and second fixing members have an embedded hole in the middle and a pouring port on the side. The embedded hole and the spring tube are interference-fitted. The side of the embedded hole facing the spring tube has a step with the same height as the thickness of the spring tube. The pouring port passes through the side of the first and second fixing members and the embedded hole.

[0012] The embedded hole is used to fix the end of the spring tube, avoiding the need for structural components extending to the inner wall of the spring tube for fixation as required by the external embedding method. This reduces the resistance when the projectile passes through, preventing jamming or alteration of the projectile's launch path. The embedded hole and the spring tube are interference-fitted to tighten the end of the spring tube, ensuring a tight connection with the first and second fixing components. This prevents the spring tube from breaking free of the fixing components when deformed, ensuring the stability and strength of the structure. The side of the embedded hole facing the spring tube has a step with the same height as the thickness of the spring tube to accommodate it. This step, matching the thickness of the spring tube, prevents friction from excessively high steps that could obstruct the projectile's passage, and also prevents the step from being too low, causing the spring tube to move along the projectile's launch path and reducing structural stability. The pouring port facilitates the injection of adhesive during installation, preventing uneven application of adhesive to the embedded hole or the end of the spring tube, which could compress the spring tube and affect the smooth passage of the projectile. This ensures sufficient contact between the adhesive and the spring tube, increasing the contact area and firmly bonding the end of the spring tube to the embedded hole, improving connection strength and reliability.

[0013] Furthermore, the first fixing member has an upper protrusion and a lower protrusion on the side facing the spring tube. The upper protrusion and the lower protrusion are symmetrically arranged about the embedded hole. The width is smaller than the diameter of the embedded hole. The cross-section is a rectangle, and one of the edges facing the embedded hole is an inwardly concave arc. The edge of the arc is provided with a chamfered surface, and the diameter of the chamfered surface is larger than the diameter of the embedded hole.

[0014] When the pitch angle of the launching mechanism changes, the Bourdon tube deforms synchronously. Since the first fixing member and the launching mechanism are on the same straight line, the pitch angle of the end of the Bourdon tube fixed to the first fixing member changes significantly. The upper and lower protrusions can transition the deformation process of the Bourdon tube, preventing bending and deformation that could occur when the Bourdon tube deforms rapidly and significantly, thus affecting the smooth passage of the projectile. The width of the upper and lower protrusions is smaller than the diameter of the embedded hole, creating free space on both sides of the embedded hole, reducing unnecessary obstruction to the projectile's path, minimizing unpredictable factors, and preventing jamming or alteration of the projectile's trajectory. Projectile launching path; the chamfered surface of the first fixing member prevents the spring tube from deforming due to sharp edges, which would prevent the formation of an arc-shaped channel that fits the projectile's path, thus avoiding friction between the projectile and the inner wall of the spring tube and causing resistance or jamming. The chamfered surface is designed to fit the shape and deformation state of the spring tube, making the projectile enter and exit the spring tube more smoothly, while reducing wear on the spring tube and increasing its service life. The diameter of the chamfered surface of the first fixing member is larger than the diameter of the embedded hole, providing the spring tube with a transition space for natural bending as it deforms along the pitch angle, avoiding compression of the spring tube that could cause deformation, hindering the smooth passage of the projectile, and reducing the jamming rate.

[0015] Furthermore, the edge of the recessed hole of the second fastener is provided with a chamfered surface, and the two sides of the second fastener are provided with recesses, which are symmetrically arranged about the recessed hole.

[0016] Since the second fixing member connects the spring tube and the ball guide channel, the ball guide channel will not deform or displace. The spring tube fixed to one side of the second fixing member experiences minimal changes in pitch angle, eliminating the need for upper and lower protrusions that would complicate the structure and increase the gimbal's weight. The rounded surface of the second fixing member reduces friction on the spring tube, preventing it from being compressed and deformed, ensuring natural deformation and smooth projectile passage. The concave opening provides more space for the spring tube's deformation, preventing unnecessary tangential forces on the projectile and affecting its deformation. This ensures the spring tube's deformation path aligns with the projectile's path, resulting in smoother projectile passage.

[0017] Furthermore, tensioning members are provided on the left and right sides of the upper and lower protrusions. The thickness of the tensioning members is less than that of the upper and lower protrusions. The sides of the tensioning members facing the upper and lower protrusions are symmetrically provided with arc-shaped concave surfaces. The edges of the arc-shaped concave surfaces are provided with chamfered surfaces, and the diameter of the chamfered surfaces is smaller than the diameter of the chamfered surfaces of the upper and lower protrusions, but larger than the diameter of the embedded hole.

[0018] Because the pitch angle of the end of the spring tube fixed to the first fixing member changes significantly, the tensioning member is used to further clamp and fix the spring tube, preventing it from loosening and falling off in the left and right directions, thus ensuring the stability of the structure. The thickness of the tensioning member is less than that of the upper and lower protrusions, providing space on the left and right sides when the spring tube deforms, reducing the unnecessary deformation of the spring tube caused by the fixing method, and making the deformation path of the spring tube conform to the path of the projectile, making the projectile pass more smoothly. The arc-shaped concave surface, together with the upper and lower protrusions, surrounds the embedded hole, fitting the embedded hole. The circular opening of the hole ensures the spring tube is securely embedded; the edge of the arc-shaped concave surface is provided with a chamfered surface to avoid squeezing and deforming the spring tube, and to avoid generating resistance that would affect the bullet passage rate, providing transition space for the spring tube's deformation; since the spring tube mainly deforms at the pitch angle, and the deformation on the left and right sides is relatively small, the diameter of the chamfered surface of the tensioning member is smaller than the diameter of the chamfered surfaces of the upper and lower protrusions, but larger than the diameter of the embedded hole, to avoid the chamfered surface of the tensioning member being too large, which would be unfavorable for clamping and fixing the spring tube, and too small, which would hinder the natural deformation of the spring tube and cause the bullet to jam.

[0019] Furthermore, the pouring port is also located in the middle of the upper and lower protrusions and passes through the first fixing member.

[0020] Because the angle of the end of the spring tube located on the first fixing member changes significantly along the pitch axis, the deformation amplitude is large, resulting in a large force on the first fixing member, which affects the fixed connection of the first fixing member on the launching mechanism. The casting port in the middle of the upper and lower protrusions facilitates the application of glue, increases the contact area, and further stabilizes the first fixing member. The glue forms a columnar adhesive between the launching mechanism and the casting port, improving the overall structural stability and preventing the first fixing member from shifting or falling off due to excessive force when the spring tube deforms, which would affect the formation of the spring tube feeding link and hinder the passage of the projectile.

[0021] Furthermore, the back of the second fastener is provided with a protruding mounting member, which is symmetrically arranged about the embedded hole, has a screw through hole in the middle, and is divided into three non-connected segments with equal spacing.

[0022] The second fixing member is fixed to the ball guide channel. The screw through hole facilitates screw insertion and fixing. The protruding mounting member is divided into three non-connected segments with equal spacing to ensure accurate screw insertion and avoid structural vibration caused by misalignment of the integrated protruding mounting member during use, which would affect the stable output of the projectile. The three protrusions ensure uniform force distribution, evenly distributing the force of the spring tube on the second fixing member to multiple contact points, avoiding excessive local force that would affect the structural stability and durability of the second fixing member. This adapts to high-intensity competition environments and facilitates disassembly and installation, improving operational efficiency.

[0023] Furthermore, the side of the tensioner is provided with a countersunk hole, which penetrates the tensioner.

[0024] The countersunk holes facilitate bolt insertion and fixation, improving operational efficiency. The countersunk holes penetrate the tensioning members on both sides, communicating with the pouring openings in the middle of the upper and lower protrusions. While the tensioning members are fixed by bolts, the bolts are also bonded to the glue in the pouring openings, providing double fixation for the tensioning members. This enhances the stability of the first fixing member, adapts to the high-intensity competition environment, and prevents the tensioning members from loosening or breaking off due to excessive force when the spring tube deforms, which would affect the fixation of the spring tube and cause the spring to jam.

[0025] Another objective of this invention is to provide a robot equipped with the aforementioned spring tube feeding device, which achieves the effects of simple structure, low energy consumption, high firing accuracy, wide firing angle range, and smooth, jam-free projectile firing.

[0026] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. Wide range of launch pitch angles and high accuracy: The pre-stretched spring tube can flexibly deform with the pitch angle of the launch mechanism, breaking through the angle limitations of existing technical solutions, adapting to more complex launch requirements and high-intensity competition environments, and matching the launch path of the projectile, so that the projectile can be launched smoothly and improve accuracy.

[0027] 2. Stable and reliable ammunition feeding with a low jamming rate: The use of an embedded hole and casting port for fixing, along with the upper and lower protrusions of the first fixing component and the tensioning component, ensures the stability of the spring tube structure. The concave opening and curved surface ensure smooth projectile transmission between the projectile ejection channel, the spring tube ball supply structure, and the ball guide channel, preventing jamming and ensuring continuous, stable, and efficient output. After a 20 Hz projectile frequency test, this spring tube enables the firing mechanism to fire smoothly from a 70-degree depression angle to a 70-degree elevation angle, without any firing delays or jamming issues.

[0028] 3. Simple and reliable structure, adaptable to high-intensity environments: The ball supply scheme of the spring tube, first fixing part and second fixing part is simpler and lighter than the double slide groove design. It is more stable and reliable than the no-transition and nylon band design. The spring tube connection is firm and reliable. The casting port, countersunk port and raised fixing part of the first fixing part and second fixing part improve the structural stability and can withstand the impact of the competition environment such as flying slopes, falling slopes and collisions, and ensure continuous ball supply. Attached Figure Description

[0029] Figure 1 This is a three-dimensional structural diagram of Embodiment 1 of the present invention.

[0030] Figure 2 This is a cross-sectional schematic diagram of Embodiment 1 of this utility model.

[0031] Figure 3 This is a schematic diagram of the structure of the first and second fixing members in Embodiment 1 of this utility model.

[0032] Figure 4 This is a three-dimensional structural diagram of the first fixing member in Embodiment 1 of this utility model.

[0033] Figure 5 This is a front view of the first fixing member of Embodiment 1 of this utility model.

[0034] Figure 6 This is a three-dimensional structural diagram of the second fixing member in Embodiment 1 of this utility model.

[0035] Figure 7 This is a front view of the second fixing member in Embodiment 1 of this utility model.

[0036] Figure labeling: launching mechanism 100, projectile ejection channel 110, friction wheel assembly 120, aiming assembly 130, aiming lens 131, control circuit board 132, first fixing member 210, upper protrusion 211, lower protrusion 212, tensioning member 213, countersunk hole 214, embedded hole 220, step 221, curved surface 230, casting port 240, second fixing member 250, arc-shaped concave surface 251, concave opening 252, protruding mounting member 253, screw through hole 254, rotating support frame 300, ball guide channel 310, pitch axis motor 320, linear driver 330, yaw axis motor 340, ball guide assembly 400. Detailed Implementation

[0037] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this invention. To better illustrate the following embodiments, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0038] In the description of this utility model, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0039] Example 1 like Figures 1 to 2 As shown, this embodiment is a spring tube feeding device, including a launching mechanism 100, a spring tube (not shown) and a rotating support frame 300.

[0040] In this embodiment, the launching mechanism 100 includes a projectile ejection channel 110, a friction wheel assembly 120, and an aiming assembly 130. The projectile ejection channel 110 is internally located within the launching mechanism 100. The friction wheel assembly 120 is symmetrically arranged on both sides of the rear of the projectile ejection channel 110, used to rub and compress the projectile, providing it with initial velocity and acceleration. The aiming assembly 130 is mounted on the friction wheel assembly 120 and is used to aim at the target position for precise impact on a fixed location. Preferably, the aiming assembly 130 includes an aiming lens 131 and a control circuit board 132. The aiming lens 131 can identify the target and determine the launch angle and direction. The control circuit board 132 converts the image information into electrical signals, determines the pitch and yaw axis angles that need adjustment, and sends them to the motor and driver. The motor and driver make corresponding attitude adjustments, which helps improve the accuracy of projectile launch and establish a competitive advantage.

[0041] The rotating support frame 300 is made of aluminum alloy, carbon fiber or high-strength plastic. The rotating support frame 300 is equipped with a pitch axis motor 320 and a linear driver 330, and has a ball guide channel 310 inside. A yaw axis motor 340 is fixed at the bottom, and a ball-pulling assembly 400 is provided below it.

[0042] The pitch axis motor 320 and the linear actuator 330 jointly control the launch mechanism 100 to swing up and down, thereby achieving changes in the pitch angle and higher precision and reliability control. Preferably, in this embodiment, the linear actuator 330 is a cylinder. The yaw axis motor 340 controls the rotating support frame 300 to rotate on the horizontal plane, thereby expanding the launch range.

[0043] like Figure 2 As shown, the ball guide channel 310 is made of rigid material with a hollow internal structure. It serves as the transport link for projectiles from the ball-feeding assembly 400 to the launching mechanism 100, passing through the yaw axis motor 340 and the ball-feeding assembly 400, and is connected to the ball-feeding assembly 400. Preferably, in this embodiment, the ball guide channel 310 is divided into an upper and lower part along the horizontal plane where the top of the yaw axis motor 340 is located. The upper part has an S-shaped gooseneck structure, which helps reduce resistance and improve the projectile throughput. The lower part is a cylindrical structure perpendicular to the horizontal plane, used to neatly arrange the projectiles output from the ball-feeding assembly 400, preparing them for launch. Optionally, the inner wall of the channel can be made of carbon tubing, carbon plates, Teflon tubing, Teflon plates, POM plates, or other materials with a low coefficient of friction. Bearings can be used for connection, which helps reduce resistance and avoids projectile jamming.

[0044] The ball guide channel 310 is connected to the launching mechanism 100 via a spring tube, the first fixing member 210, and the second fixing member 250.

[0045] The spring tube, as a transition link, is made of composite steel or other materials suitable for making springs. Its two ends are fixed to the first fixing member 210 and the second fixing member 250, respectively. After fixing, the spring tube is in a stretched state. Structurally, its horizontal pre-stretch after fixing is 25%-32% of its original length. When the pitch angle of the launching mechanism 100 changes, the pre-stretch tension drives the spring tube to actively adapt and produce natural deformation, always maintaining the smooth flow of the feed link, adapting to a wide range of pitch angle adjustments, reducing collisions and friction between the projectile and the inner wall of the spring tube, and preventing spring tube slack and projectile jamming. Preferably, in this embodiment, the inner diameter of the spring tube is 18mm, the wire diameter is 1.5mm, the spring tube length is approximately 31mm, and the horizontal elongation after fixing is approximately 9mm. When the pitch axis angle changes, the spring tube automatically deforms into an arc. For every 1 degree increase or decrease in the pitch axis angle, the arc of the spring tube increases or decreases by 0.026rad, and its changing arc trajectory matches the pre-motion trajectory of the 17mm projectile.

[0046] like Figure 3 As shown, both the first fixing member 210 and the second fixing member 250 have an embedded hole 220 in their middle. The side of the embedded hole 220 facing the spring tube has a step 221 with the same height as the thickness of the spring tube. This is used to fix the spring tube in an embedded manner, accommodating it and matching its thickness. This prevents the step 221 from being too high and causing friction with the projectile, thus hindering its passage, or from being too low, causing the spring tube to move along the projectile's firing path and reducing structural stability. Both the first fixing member 210 and the second fixing member 250 have a pouring port 240 on their sides. The pouring port 240 passes between the side of the first fixing member 210 and the second fixing member 250 and the embedded hole 220. This facilitates the injection of adhesive during installation. During installation, simply align the glue gun with the pouring port 240 to apply the adhesive. This prevents uneven application of adhesive to the embedded hole 220 or the end of the spring tube, which could cause the spring tube to be squeezed and jammed. It also increases the adhesive contact area, improving connection strength and reliability.

[0047] like Figure 4 and Figure 5As shown, the first fixing member 210 connects the projectile delivery channel 110 and the spring tube. The first fixing member 210 has an upper protrusion 211 and a lower protrusion 212 symmetrically arranged on the side facing the spring tube. This is used to prevent the spring tube from bending and deforming when it deforms rapidly and to a large extent, which would affect the smooth passage of the projectile. The width of the upper protrusion 211 and the lower protrusion 212 is smaller than the diameter of the embedded hole 220, so that there is empty space on both sides of the embedded hole 220, reducing unnecessary obstruction when the projectile passes through. The cross-section is a rectangle, and one of the sides facing the embedded hole 220 is a concave arc shape. The edge of the arc shape is provided with a chamfered surface 230. This is used to prevent the spring tube from being unable to form an arc-shaped channel that fits the projectile path when it deforms, which would cause the projectile to jam. The diameter of the chamfered surface 230 is larger than the diameter of the embedded hole 220, providing the spring tube with a transition space for natural bending as it deforms along the pitch angle, ensuring the smooth passage of the projectile. Optionally, in this embodiment, a pouring port 240 is opened in the middle of the upper protrusion 211 and the lower protrusion 212 to further fix the spring tube and improve the stability and impact resistance of the structure.

[0048] Tensioning members 213 are provided on the left and right sides of the upper protrusion 211 and the lower protrusion 212. Optionally, in this embodiment, the tensioning members 213 are bolted together to clamp the upper protrusion 211 and the lower protrusion 212. A casting port 240 and a countersunk hole 214 can be provided on the side of the tensioning member 213 for secure fixing. The casting port 240 and the countersunk hole 214 penetrate the tensioning members 213 on both sides. The tensioning members 213 are used to further clamp and fix the spring tube, preventing the spring tube from loosening and falling off in the left and right directions. The thickness of the tensioning members 213 is less than that of the upper protrusion 211 and the lower protrusion 212, providing space on both sides when the spring tube deforms, reducing the unnecessary deformation of the spring tube caused by the fixing method. The side of the tensioning member 213 facing the upper protrusion 211 and the lower protrusion 212 is symmetrically provided with an arc-shaped concave surface 251. The arc-shaped concave surface 251 and the upper protrusion 211 and the lower protrusion 212 together surround the embedded part. The hole 220 is designed to fit the circular opening of the embedded hole 220, ensuring that the spring tube is securely embedded. The edge of the arc-shaped concave surface 251 is provided with a chamfered surface 230 to prevent the spring tube from being squeezed and deformed, which could cause the spring tube to jam. The diameter of the chamfered surface 230 is smaller than the diameter of the chamfered surface 230 of the upper protrusion 211 and the lower protrusion 212, but larger than the diameter of the embedded hole 220. This prevents the chamfered surface 230 of the tensioner 213 from being too large, which would be unfavorable for clamping and fixing the spring tube, or too small, which would hinder the natural deformation of the spring tube and cause the spring tube to jam.

[0049] like Figure 6 and Figure 7As shown, the second fixing member 250 connects the spring tube and the ball guide channel 310. The edge of the embedded hole 220 of the second fixing member 250 is provided with a chamfered surface 230, which reduces the friction of the spring tube, avoids the spring tube from being squeezed and deformed, ensures the spring tube's natural deformation, and allows the projectile to pass smoothly. The two sides of the second fixing member 250 are provided with recesses 252, which are symmetrically arranged about the embedded hole 220, providing more space for the deformation of the spring tube, avoiding unnecessary tangential force on the projectile, affecting the deformation of the spring tube itself, ensuring that the deformation path of the spring tube conforms to the projectile path, making the projectile pass more smoothly and avoiding jamming. The back of the second fixing member 250 is provided with a protruding mounting member 253, and the center of the protruding mounting member 253 is provided with a screw through hole 254, which is divided into three unconnected segments with equal spacing, for positioning installation and uniform force distribution, ensuring the stability of the second fixing member 250.

[0050] The feeding principle in this embodiment of the utility model is as follows: The projectile passes through the ball guide channel 310 and the spring tube sequentially from the ball-feeding assembly 400. It generates initial velocity and acceleration through friction compression by the friction assembly in the launching mechanism 100. After acceleration, the projectile is launched through the projectile exit channel 110. When the launch angle needs to be adjusted, the yaw axis motor 340 controls the rotating support frame 300 to rotate on the horizontal plane, and the pitch axis motor 320 and the linear driver 330 control the launching mechanism 100 to swing up and down. When the launching mechanism 100 swings, the spring tube will generate natural deformation, forming a launch path that fits the projectile, allowing the projectile to pass smoothly.

[0051] Example 2 This embodiment provides a robot equipped with a spring tube feeding device as provided in Embodiment 1, which can achieve fast gimbal response, simple structure, low energy consumption, high firing accuracy, wide firing angle range, and smooth projectile firing without jamming.

[0052] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the technical solution of this utility model, and are not intended to limit the specific implementation of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A spring tube feeding device, comprising a launching mechanism and a rotating support frame, wherein the launching mechanism has a projectile ejection channel inside, the rotating support frame has a ball guide channel inside, the launching mechanism can rotate relative to the rotating support frame in a pitch angle, and the rotating support frame can rotate in a horizontal plane, characterized in that... The projectile delivery channel and the ball guide channel are connected by a spring tube, which is in a stretched state and can deform in response to changes in the angle of the launching mechanism.

2. The spring tube feeding device according to claim 1, characterized in that, The spring tube is fixedly connected by a first fixing member and a second fixing member. The first fixing member connects the spring tube to the ejection channel, and the second fixing member connects the spring tube to the ball guide channel. The first and second fixing members have an embedded hole in the middle and a pouring port on the side. The embedded hole and the spring tube are interference-fitted. The side of the embedded hole facing the spring tube has a step with the same height as the thickness of the spring tube. The pouring port passes through the side of the first and second fixing members and the embedded hole.

3. The spring tube feeding device according to claim 2, characterized in that, The first fixing member has an upper protrusion and a lower protrusion on the side facing the spring tube. The upper protrusion and the lower protrusion are symmetrically arranged about the embedded hole. The width is smaller than the diameter of the embedded hole. The cross-section is a rectangle and one of the edges facing the embedded hole is an inwardly concave arc. The edge of the arc is provided with a chamfered surface, and the diameter of the chamfered surface is larger than the diameter of the embedded hole.

4. The spring tube feeding device according to claim 2, characterized in that, The edge of the recessed hole of the second fastener is provided with a chamfered surface, and the two sides of the second fastener are provided with recesses, which are symmetrically arranged with respect to the recessed hole.

5. The spring tube feeding device according to claim 3, characterized in that, Tensioning members are provided on the left and right sides of the upper and lower protrusions. The thickness of the tensioning members is less than that of the upper and lower protrusions. The sides of the tensioning members facing the upper and lower protrusions are symmetrically provided with arc-shaped concave surfaces. The edges of the arc-shaped concave surfaces are provided with chamfered surfaces, and the diameter of the chamfered surfaces is smaller than the diameter of the chamfered surfaces of the upper and lower protrusions, but larger than the diameter of the embedded hole.

6. The spring tube feeding device according to claim 3, characterized in that, The pouring port is also located in the middle of the upper and lower protrusions and passes through the first fixing member.

7. The spring tube feeding device according to claim 4, characterized in that, The second fastener has a raised mounting part on its back side. The raised mounting part is symmetrically arranged about the embedded hole, and has a screw through hole in the middle. It is divided into three non-connected segments with equal spacing.

8. The spring tube feeding device according to claim 5, characterized in that, The side of the tensioner is provided with a countersunk hole, which penetrates the tensioner.

9. A robot, characterized in that, The device is equipped with a spring tube feeding device as described in any one of claims 1 to 8.

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