CN113319867B - Arrow casting robot and casting method - Google Patents

Abstract

Arrow casting robot and casting method relates to robot technical field. The arrow casting robot comprises a movable frame, an arrow catching and transferring mechanism, an arrow casting mechanism and an arrow angle adjusting mechanism; the arrow capturing and transferring mechanism comprises a bearing frame, a lifting plate, a rotary driving assembly, a lifting driving assembly, a multi-degree-of-freedom mechanical arm and a clamping jaw; the arrow casting mechanism is arranged on the rack, and an arrow hanging position for hanging the arrow is arranged on the arrow casting mechanism and is used for casting the arrow hung on the arrow hanging position. An arrow casting method is applied to an arrow casting robot, and comprises the following steps: 1, grabbing arrow vectors; 2, hanging the arrow on a throwing frame; 3, adjusting the hanging posture of arrow; and 4, projecting arrow vectors. The invention has the advantages that the automatic grabbing, transferring and launching of arrow vectors can be realized, the whole archery process does not need manual intervention, and the intelligent degree and the automation degree are higher.

Description

Arrow casting robot and casting method

Technical Field

The invention relates to the technical field of robots, in particular to an arrow casting robot and a casting method.

Background

With the advancement of technology, a variety of robots have appeared in modern society, including robots that play games with humans. The game robot is presented in various technological venues, and various game robots attract vast tourists, particularly young people, and bring endless joys and useful knowledge to the tourists.

Archery is a traditional game and match project for people in China, but compared with other sports projects, people who like archery are relatively few. The main reason is that most archery sports are single sports, lack of competitive nature, and are difficult to arouse people's interest. Therefore, the archery robot is developed to meet the requirements of archery enthusiasts, arouse the enthusiasm of the public on archery sports, and make the participants get knowledge and happiness in an archery comparison test with the archery robot.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides an arrow projectile throwing robot and a projectile throwing method, which can enable participants to obtain knowledge and pleasure in an archery comparison test with an archery robot, and are beneficial to popularization of archery movement.

The technical scheme of the invention is as follows: the arrow casting robot comprises a movable frame, an arrow catching and transferring mechanism, an arrow casting mechanism and an arrow angle adjusting mechanism;

the movable frame comprises a frame, a front wheel driving mechanism, a rear wheel and a rear wheel driving mechanism; the frame is a square frame, and two corners at the front end and two corners at the rear end of the frame are respectively provided with a wheel mounting area; the two front wheels are respectively arranged in the wheel mounting areas at two corners of the front end of the frame; the two groups of front wheel driving mechanisms are respectively associated with the two front wheels so as to drive the two front wheels to rotate independently; the two rear wheels are respectively arranged in the wheel mounting areas at two corners of the rear end of the frame; the two groups of rear wheel driving mechanisms are respectively associated with the two rear wheels so as to drive the two rear wheels to rotate independently;

the arrow capturing and transferring mechanism comprises a bearing frame, a lifting plate, a rotary driving assembly, a lifting driving assembly, a multi-degree-of-freedom mechanical arm and a clamping jaw; the bearing frame comprises an upper plate, a middle plate, a lower plate and guide rods, wherein the upper plate, the middle plate and the lower plate are arranged at intervals from top to bottom, the number of the guide rods is multiple, all the guide rods are arranged in parallel and vertically, the guide rods are fixedly connected with the upper plate, the middle plate and the lower plate from top to bottom respectively so as to be connected into an integral bearing frame, and an action area for the lifting plate to move is arranged between the upper plate and the middle plate; the lifting plate is provided with a plurality of guide holes, is arranged in a sliding fit manner with all the guide rods through the guide holes on the lifting plate and is positioned in the action area of the bearing frame; the rotary driving assembly is positioned at the lower end of the bearing frame, is associated with the bearing frame and is used for driving the bearing frame to rotate; the lifting driving component is arranged on the bearing frame and is associated with the lifting plate so as to drive the lifting plate to do lifting movement along the guide rod; the rear end of the multi-degree-of-freedom mechanical arm is fixedly connected with the lifting plate, and the front end of the multi-degree-of-freedom mechanical arm is connected with the clamping jaw; a clamping station for clamping arrow is arranged in the clamping jaw;

the arrow casting mechanism is arranged on the rack, and is provided with an arrow hanging position for hanging an arrow, and the arrow hanging position is used for casting the arrow hung on the arrow hanging position;

the arrow angle adjusting mechanism is arranged on the rack, is positioned at the lower end of the arrow ejecting mechanism and is used for adjusting the angle of the arrow hung on the arrow hanging position.

The further technical scheme of the invention is as follows: the arrow projection mechanism comprises a projection frame, a rotating shaft A, a driving motor A and a bracket; one end of the projection frame is a rear end, the other end of the projection frame is a front end, and the front end of the projection frame is provided with a U-shaped notch for hanging and placing arrow; the rotating shaft A is horizontally arranged and fixedly connected with the projecting frame, one end of the rotating shaft A is movably arranged on the rack through a bearing, and the other end of the rotating shaft A is connected with a shaft of the driving motor A through a coupling; the driving motor A is fixedly arranged on the rack, and a crankshaft of the driving motor A rotates to drive the rotating shaft A to rotate so as to drive the projectile frame to rotate in a vertical plane; the support is fixedly arranged on the rack and is positioned on the rotating path of the projecting frame, and when the support abuts against the lower end of the middle part of the projecting frame, the projecting frame is in a horizontal state; the arrow hanging position is a U-shaped notch.

The invention further adopts the technical scheme that: the arrow angle adjusting mechanism comprises a steering engine, a connecting rod and a C-shaped support hand; the steering engine is directly or indirectly fixedly arranged on the rack, and a crankshaft of the steering engine is connected with the front end of the connecting rod; the C-shaped support hand is positioned under the front end of the projection frame, one end of the C-shaped support hand is open, the other end of the C-shaped support hand is closed, the closed end of the C-shaped support hand is connected to the rear end of the connecting rod, and the C-shaped support hand rotates in a vertical plane under the driving of the steering engine.

The further technical scheme of the invention is as follows: the clamping jaw comprises a base, a C-shaped half-side jaw, a gear and an opening and closing driving motor; the base is fixedly arranged at the front end of the multi-degree-of-freedom mechanical arm; one side of each C-shaped half claw is provided with an inner arc surface, the other side of each C-shaped half claw is provided with an outer arc surface, one end of each C-shaped half claw is provided with a rotating shaft B, the other end of each C-shaped half claw is provided with a plurality of teeth at intervals, a seam is arranged between every two adjacent teeth, the two C-shaped half claws are rotatably arranged on the two sides of the base through the rotating shafts B respectively, and the inner arc surfaces are arranged oppositely; when the two C-shaped half-side claws rotate oppositely and are folded, the teeth and the gaps of the two C-shaped half-side claws are inserted in a staggered manner; when the two C-shaped half-side claws rotate back to be opened, the teeth of the two C-shaped half-side claws are separated from each other to form an opening; the two gears are respectively fixedly arranged on the two C-shaped half-side claws, are mutually meshed and are respectively and coaxially arranged with the two rotating shafts B; the opening and closing driving motor is fixedly arranged on the base and is associated with one of the two rotating shafts B so as to drive the rotating shaft B and the C-shaped half claw connected with the rotating shaft B to synchronously rotate, and the other rotating shaft B and the other C-shaped half claw are driven to synchronously rotate through the meshing of the two gears; the clamping station is located between the two C-shaped half-jaws.

The further technical scheme of the invention is as follows: the rotary driving component comprises a disc type motor, a plane bearing and a bottom plate; the disc type motor is fixedly arranged on the bottom plate, a crankshaft of the disc type motor vertically extends upwards, and the disc type motor is fixedly connected to the lower end of a middle plate of the bearing frame after penetrating through a lower plate of the bearing frame; the plane bearing is arranged between the bottom plate and the lower plate of the bearing frame, the upper half part of the plane bearing is fixedly connected with the lower plate of the bearing frame, and the lower half part of the plane bearing is fixedly connected with the bottom plate.

The further technical scheme of the invention is as follows: the lifting driving component comprises a driving motor B, a driving wheel, a driven wheel, a synchronous belt and an L-shaped connecting seat; the driving motor B is fixedly arranged on the upper surface of the middle plate of the bearing frame; the driving wheel is fixedly arranged on a crankshaft of the driving motor B; the driven wheel is movably arranged on the upper plate of the bearing frame through a bearing and a bearing seat, and the synchronous belt is tensioned and wound between the driving wheel and the driven wheel; one end of the L-shaped connecting seat is fixedly connected with the synchronous belt, and the other end of the L-shaped connecting seat is fixedly connected with the lifting plate.

The further technical scheme of the invention is as follows: the vertical plane swept by the rotating path of the C-shaped hand support is superposed with the vertical plane swept by the rotating path of the ejection frame.

The invention further adopts the technical scheme that: the front wheel driving mechanism comprises a motor A and a coupler A, the motor A is fixedly arranged on the rack, and a machine shaft of the motor A is connected with the front wheel through the coupler A; the rear wheel driving mechanism comprises an arch frame, a guide rod, a floating plate, a damping spring, a motor B and a coupling B; the arch frame is fixedly arranged on the frame; the guide rod penetrates through the floating plate, and the upper end and the lower end of the guide rod are fixedly connected with the arch frame and the rack respectively; the floating plate is movably sleeved on the guide rod and is positioned between the arch frame and the machine frame; the damping spring is sleeved on the guide rod and positioned between the arch frame and the floating plate, and the floating plate is kept to be pressed downwards on the rack through elasticity; the motor B is fixedly arranged on the floating plate, and a shaft of the motor B is connected with the rear wheel through a coupling B; the front wheels and the rear wheels are all omni-directional wheels, and the included angle between any two adjacent omni-directional wheels is 90 degrees.

The technical scheme of the invention is as follows: an arrow casting method is applied to the arrow casting robot, before automatic casting operation is executed, the arrow casting robot is in an initial state, and in the initial state:

a. the connecting rod rotates to a vertical state and is positioned at the lower end of the steering engine;

b. the lower end of the middle part of the projecting frame is propped against the bracket;

c. the teeth of the two C-shaped half-side claws of the clamping jaw are mutually separated to form an opening;

the casting method comprises the following steps:

s01, grabbing arrow:

a. on one hand, a driving motor B is started, the lifting plate is driven to vertically move along the guide rod through the operation of the synchronous belt, on the other hand, the posture of the multi-degree-of-freedom mechanical arm is adjusted, the posture of the clamping jaw is adjusted, and the opening of the clamping jaw is enabled to be over against the arrow shaft of the target arrow;

b. the opening and closing driving motor is started to fold the two C-shaped half-side claws of the clamping jaw, and the arrow shaft is firmly clamped between the two C-shaped half-side claws of the clamping jaw;

s02, hanging the arrow on a throwing rack:

a. on one hand, a driving motor B is started, the lifting plate is driven to vertically move along the guide rod through the operation of the synchronous belt, and on the other hand, the posture of the multi-degree-of-freedom mechanical arm is adjusted, so that the posture of the clamping jaw is adjusted, and the arrow shaft extends into the U-shaped notch of the projection frame;

b. the opening and closing driving motor is started to separate the two C-shaped half-side claws of the clamping jaw, and the arrow is hung in the U-shaped notch of the projection frame through the step surface between the arrow and the arrow rod and is in a vertical state;

s03, adjusting the hanging posture of arrow: the steering engine is started to drive the connecting rod to rotate, and the included angle between the arrow and the horizontal plane is adjusted through the C-shaped hand support;

s04, arrow casting:

the driving motor A is started to drive the front end of the throwing frame to rotate towards the front upper part of the rack, and arrow vectors placed on the throwing frame are thrown out at the moment when the throwing frame stops rotating;

in this step, the faster the rotating speed of the projecting frame is, the farther the projecting distance is, and vice versa.

Compared with the prior art, the invention has the following advantages:

1. the method can realize automatic grabbing, transferring and launching of archery, does not need manual intervention in the whole archery process, has high intelligent and automatic degrees, enables participants to obtain knowledge and pleasure in an archery comparison test with an archery robot, and is favorable for popularization of archery movement.

2. The C-shaped support hand pulls the arrow rod to adjust the hanging posture of the arrow on the projection frame, so that the arrow keeps a stable posture before projection, the arrow is prevented from shaking on the projection frame to cause inaccuracy in projection direction, and the effect of adjusting the projection track of the arrow can be achieved.

3. The plane bearing is arranged between the bearing frame and the bottom plate, on one hand, the rotation stability of the bearing frame is ensured through the plane bearing, on the other hand, the weight of most of the bearing frame is shared for the disc motor, and the disc motor is protected.

4. The rotary driving assembly, the lifting driving assembly and the multi-degree-of-freedom mechanical arm can act respectively, the rotary driving assembly, the lifting driving assembly and the multi-degree-of-freedom mechanical arm are used for adjusting the space posture of the clamping jaw together, the operation mode is flexible and changeable, and the multi-degree-of-freedom adjustment of the space posture of the clamping jaw is achieved.

5. The two rear wheels are arranged on the frame by adopting a floating type mounting structure (the rear wheels are connected on a motor B which is arranged on a floating plate, and the floating plate is connected with the frame by a damping spring). On the one hand, the projecting frame can produce great impact to the frame when rising and transferring, and this structure can effectively uninstallation conduction to the frame impact or vibrations, avoids installing the part in the frame because of impact or vibrations damage, has prolonged the life of installing the part in the frame. On the other hand, the floating type mounting structure adopted by the two rear wheels ensures that the two front wheels and the two rear wheels can be in full contact with the ground, reduces the mounting precision requirements of the front wheels and the rear wheels, avoids the failure of the movement control of the rack caused by the fact that a certain omnidirectional wheel cannot be in contact with the ground, and ensures the use reliability of the pitching machine.

6. Two 90 contained angles that become of four omniwheel, compare traditional front wheel rear wheel parallel arrangement's mode, the auto-lock of frame under quiescent condition can be realized to this structure on the one hand, avoids the frame to appear sliding when static, and on the other hand can realize the omnidirectional free movement of frame through the rotational speed of every omniwheel of independent control.

The invention is further described below with reference to the figures and examples.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic diagram of a rotary drive assembly;

FIG. 3 is a schematic structural view of a frame;

FIG. 4 is a schematic structural view of a rear wheel drive mechanism;

FIG. 5 is a schematic view of the jaw configuration;

FIG. 6 is a state diagram at the end of arrow casting method S01;

FIG. 7 is a state diagram at the end of arrow casting method S02;

FIG. 8 is a state diagram at the end of arrow casting method S03;

fig. 9 is a state diagram at the end of the arrow casting method S04.

Illustration of the drawings: a frame 11; a wheel mounting area 111; a front wheel 12; a motor A131; a coupling A132; a rear wheel 14; an arch frame 151; a guide rod 152; a floating plate 153; a damper spring 154; a motor B155; a coupling B156; an upper plate 211; a middle plate 212; a lower plate 213; a guide rod 214; a lifting plate 22; a disc motor 231; a flat bearing 232; a base plate 233; a motor B241; a drive wheel 242; the driven pulley 243; a timing belt 244; an L-shaped connecting seat 245; a multi-degree-of-freedom mechanical arm 25; a clamping jaw 26; a base 261; a C-shaped half-claw 262; gear 263; an opening and closing drive motor 264; a projecting frame 31; a U-shaped notch 311; a rotating shaft 32; drive motor a 33; a bracket 34; a steering engine 41; a connecting rod 42; a C-shaped holder 43.

Detailed Description

Example 1:

as shown in fig. 1 to 5, the arrow casting robot includes a movable frame, an arrow catching and transferring mechanism, an arrow casting mechanism, and an arrow angle adjusting mechanism.

The movable frame comprises a frame 11, a front wheel 12, a front wheel driving mechanism, a rear wheel 14 and a rear wheel driving mechanism. The frame 11 is a square frame, and two corners at the front end and two corners at the rear end of the frame are respectively provided with a wheel mounting area 111. Two front wheels 12 are respectively provided in the wheel mounting areas 111 at both corners of the front end of the frame 11. Two sets of front wheel drive mechanisms are associated with the two front wheels 12, respectively, to drive the two front wheels 12 to rotate independently. The front wheel driving mechanism comprises a motor A131 and a coupling A132, the motor A131 is fixedly arranged on the frame 11, and a crankshaft of the motor A is connected with the front wheel 12 through the coupling A132. The two rear wheels 14 are respectively provided in the wheel mounting regions 111 at the two corners of the rear end of the frame 11. Two sets of rear wheel drive mechanisms are associated with the two rear wheels 14, respectively, to drive the two rear wheels 14 to rotate independently. The rear wheel driving mechanism includes a center frame 151, a guide rod 152, a floating plate 153, a damper spring 154, a motor B155, and a coupling B156. The arch 151 is fixedly mounted on the frame 11. The guide rod 152 passes through the floating plate 153 and is fixedly connected to the arch frame 151 and the frame 11 at upper and lower ends thereof, respectively. The floating plate 153 is movably sleeved on the guide rod 152 and is located between the arch frame 151 and the frame 11. A damping spring 154 is fitted over the guide rod 152 and between the arch 151 and the floating plate 153, and holds the floating plate pressed down against the frame 11 by elastic force. Motor B155 is fixedly mounted on floating plate 153, and its shaft is connected to rear wheel 14 by coupling B156.

The arrow capturing and transferring mechanism comprises a bearing frame, a lifting plate 22, a rotary driving assembly, a lifting driving assembly, a multi-degree-of-freedom mechanical arm 25 and a clamping jaw 26. The bearing frame comprises an upper plate 211, a middle plate 212, a lower plate 213 and guide rods 214, wherein the upper plate 211, the middle plate 212 and the lower plate 213 are arranged at intervals from top to bottom, the number of the guide rods 214 is multiple, all the guide rods 214 are arranged in parallel and vertically, the guide rods 214 are fixedly connected with the upper plate 211, the middle plate 212 and the lower plate 213 from top to bottom respectively so as to be connected into a whole bearing frame, and an action area 215 for the lifting plate to move is arranged between the upper plate 211 and the middle plate 212. The lifting plate 22 is provided with a plurality of guide holes, and the lifting plate 22 is slidably fitted with all the guide rods 214 through the guide holes and is located in the action area 215 of the bearing frame. The rotary driving assembly is positioned at the lower end of the bearing frame and is associated with the bearing frame, and the rotary driving assembly is used for driving the bearing frame to rotate. A lift drive assembly is mounted to the carriage frame and is associated with the lift plate 22 for driving the lift plate 22 in a lifting motion along the guide rods 214. The rear end of the multi-degree-of-freedom mechanical arm 25 is fixedly connected with the lifting plate 22, and the front end of the multi-degree-of-freedom mechanical arm is connected with the clamping jaw 26. A gripping station for gripping the arrow is provided in the gripper jaw 26.

The arrow casting mechanism is arranged on the frame 11, and an arrow hanging position for hanging the arrow is arranged on the arrow casting mechanism and is used for casting the arrow hung on the arrow hanging position. The arrow hanging position is a U-shaped notch 311. The arrow casting mechanism comprises a casting frame 31, a rotating shaft 32, a driving motor A33 and a bracket 34. One end of the projecting frame 31 is a rear end, the other end is a front end, and the projecting frame 31 is provided with a U-shaped notch 311 for hanging arrow at the front end. The rotating shaft 32 is horizontally arranged and is fixedly connected with the projecting frame 31, one end of the rotating shaft 32 is movably arranged on the rack 11 through a bearing, and the other end of the rotating shaft 32 is connected with a crankshaft of a driving motor A33 through a coupling. The driving motor a33 is fixedly mounted on the frame 11, and the crankshaft rotates to drive the rotating shaft 32 to rotate, so as to drive the projecting frame 31 to rotate in the vertical plane. The support 34 is fixedly arranged on the frame 11 and is positioned on the rotation path of the projecting frame 31, and when the support 34 abuts against the lower end of the middle part of the projecting frame 31, the projecting frame 31 is in a horizontal state and cannot rotate downwards.

The arrow angle adjusting mechanism is arranged on the frame 11, is positioned at the lower end of the arrow ejecting mechanism, and is used for adjusting the angle of the arrow hung on the arrow hanging position. The arrow angle adjusting mechanism comprises a steering engine 41, a connecting rod 42 and a C-shaped support hand 43. Steering wheel 41 is indirectly fixed on frame 11, and the bent axle of steering wheel 41 is connected with the front end of connecting rod 42. The C-shaped supporting hand 43 is positioned under the front end of the projecting frame 31, one end of the C-shaped supporting hand is open, the other end of the C-shaped supporting hand is closed, the closed end of the C-shaped supporting hand is connected to the rear end of the connecting rod 42, and the C-shaped supporting hand 43 rotates in a vertical plane under the driving of the steering engine 41.

Preferably, the front wheels 12 and the rear wheels 14 are omni-wheels, and the angle between any two adjacent omni-wheels 13 is 90 °. The structure can realize self-locking of the rack 11 in a static state on one hand, and avoid slippage of the rack 11 in a static state, and on the other hand, the structure can realize omnidirectional free movement of the rack 11 by independently controlling the rotating speed of each omnidirectional wheel.

Preferably, the rotation driving assembly includes a disc motor 231, a plane bearing 232, and a base plate 233. The disc motor 231 is fixedly installed on the bottom plate 233, and its crankshaft vertically extends upward and is fixed to the lower end of the middle plate 212 of the carrying frame after passing through the lower plate 213 of the carrying frame. The plane bearing 232 is disposed between the bottom plate 233 and the lower plate 213 of the carrying frame, the upper half portion of the plane bearing 232 is fixedly connected to the lower plate 213 of the carrying frame, and the lower half portion of the plane bearing 232 is fixedly connected to the bottom plate 233. This structural design can avoid the crankshaft of the disc motor 231 from bearing excessively while realizing the rotation function, and can disperse the load to the flat bearing 232 and the bottom plate 233.

Preferably, the lifting driving assembly includes a driving motor B241, a driving pulley 242, a driven pulley 243, a timing belt 244, and an L-shaped connecting seat 245. The driving motor B241 is fixedly installed on the upper surface of the middle plate 212 of the carrying frame. The driving wheel 242 is fixedly installed on a crankshaft of the driving motor B241. The driven wheel 243 is movably mounted on the upper plate 211 of the bearing frame through a bearing and a bearing seat, and the synchronous belt 244 is tightly wound between the driving wheel 242 and the driven wheel 243. One end of the L-shaped connecting seat 245 is fixedly connected with the synchronous belt 244, and the other end is fixedly connected with the lifting plate 22.

Preferably, the jaw 26 includes a base 261, a C-shaped half-jaw 262, a gear 263, and an opening and closing drive motor 264. The base 261 is fixedly mounted on the front end of the multi-degree-of-freedom mechanical arm 25. Half claw 262 one side of C shape is equipped with the intrados, and the opposite side is equipped with the extrados, and one end is equipped with the pivot, and other end interval arrangement has a plurality of teeth, is equipped with the seam between the adjacent tooth, and two half claws 262 of C shape are respectively through the rotatable installation in base 261 both sides of pivot to the intrados is arranged relatively. When the two C-shaped half-side claws 262 rotate towards each other and are closed, the teeth and the slots of the two C-shaped half-side claws 262 are inserted in a staggered mode. When the two C-shaped jaw halves 262 are rotated back open, the teeth of the two C-shaped jaw halves 262 separate from each other to form an opening. The two gears 263 are respectively fixedly installed on the two C-shaped half claws 262, are engaged with each other, and are respectively arranged coaxially with the two rotating shafts. The opening and closing driving motor 264 is fixedly installed on the base 261 and is associated with one of the two rotating shafts to drive the rotating shaft and the C-shaped half claw 262 connected with the rotating shaft to synchronously rotate, and the other rotating shaft and the other C-shaped half claw 262 are driven to synchronously rotate through the meshing of the two gears. The gripping station is located between two C-shaped half-grippers 262.

Preferably, the vertical plane swept by the path of rotation of the C-shaped holder 43 coincides with the vertical plane swept by the path of rotation of the ejection carriage 31. Based on the structure, when the C-shaped holder 43 adjusts the arrow angle, the adjusted arrow is also positioned on the vertical plane swept by the rotating path of the ejection frame 31, which is beneficial to maintaining the stability and accuracy of the emitted arrow.

An arrow casting method is based on the arrow casting robot, before automatic casting operation is executed, the arrow casting robot is in an initial state, and in the initial state:

a. the connecting rod 42 rotates to a vertical state and is positioned at the lower end of the steering engine 41;

b. the lower end of the middle part of the projecting frame 31 is propped against the bracket 34;

c. the teeth of the two C-shaped jaw halves 262 of the jaw 26 are separated from each other to form an opening.

S01, grabbing arrow:

a. on one hand, the driving motor B241 is started, the lifting plate 22 is driven to vertically move along the guide rod 214 through the operation of the synchronous belt 244, on the other hand, the posture of the multi-degree-of-freedom mechanical arm 25 is adjusted, the posture of the clamping jaw 26 is adjusted, and the opening of the clamping jaw 26 is enabled to be over against the arrow rod of the target arrow;

b. the open/close driving motor 4234 is started to close the two C-shaped half claws 262 of the clamping jaw 26, and firmly clamp the arrow shaft between the two C-shaped half claws 262 of the clamping jaw 26.

S02, hanging the arrow on a throwing frame:

a. on one hand, a driving motor B241 is started, the lifting plate 22 is driven to vertically move along the guide rod 214 through the running of a synchronous belt 244, on the other hand, the posture of the multi-degree-of-freedom mechanical arm 25 is adjusted, the posture of the clamping jaw 26 is adjusted, and the arrow shaft extends into the U-shaped notch 311 of the ejection frame 31;

b. the opening and closing drive motor 4234 is started to separate the two C-shaped half-side claws 262 of the clamping jaw 26, and the arrow is hung in the U-shaped notch 311 of the ejection frame 31 through the step surface between the arrow and the arrow rod and is in a vertical state.

S03, adjusting the hanging posture of arrow: the steering engine 41 is started to drive the connecting rod 42 to rotate, and the included angle between the arrow and the horizontal plane is adjusted through the C-shaped hand support 43.

S04, arrow casting: the driving motor A33 is started to drive the front end of the projecting frame 31 to rotate upwards, and at the moment when the projecting frame 31 stops rotating, the arrow placed on the projecting frame 31 is projected;

in this step, the faster the rotation speed of the projecting frame 31, the farther the projecting distance, and vice versa.

Claims (7)

1. Arrow casts robot, characterized by: the arrow shooting device comprises a movable rack, an arrow catching and transferring mechanism, an arrow casting mechanism and an arrow angle adjusting mechanism;

the movable frame comprises a frame, a front wheel driving mechanism, a rear wheel and a rear wheel driving mechanism; the frame is a square frame, and two corners at the front end and two corners at the rear end of the frame are respectively provided with a wheel mounting area; the two front wheels are respectively arranged in the wheel mounting areas at two corners of the front end of the frame; the two groups of front wheel driving mechanisms are respectively associated with the two front wheels so as to drive the two front wheels to rotate independently; the two rear wheels are respectively arranged in the wheel mounting areas at two corners of the rear end of the frame; the two groups of rear wheel driving mechanisms are respectively associated with the two rear wheels so as to drive the two rear wheels to rotate independently;

the arrow capturing and transferring mechanism comprises a bearing frame, a lifting plate, a rotary driving assembly, a lifting driving assembly, a multi-degree-of-freedom mechanical arm and a clamping jaw; the bearing frame comprises an upper plate, a middle plate, a lower plate and guide rods, wherein the upper plate, the middle plate and the lower plate are arranged at intervals from top to bottom, the number of the guide rods is multiple, all the guide rods are arranged in parallel and vertically, the guide rods are fixedly connected with the upper plate, the middle plate and the lower plate from top to bottom respectively so as to be connected into an integral bearing frame, and an action area for the lifting plate to move is arranged between the upper plate and the middle plate; the lifting plate is provided with a plurality of guide holes, is arranged in a sliding fit manner with all the guide rods through the guide holes on the lifting plate and is positioned in the action area of the bearing frame; the rotary driving assembly is positioned at the lower end of the bearing frame, is associated with the bearing frame and is used for driving the bearing frame to rotate; the lifting driving component is arranged on the bearing frame and is associated with the lifting plate so as to drive the lifting plate to do lifting movement along the guide rod; the rear end of the multi-degree-of-freedom mechanical arm is fixedly connected with the lifting plate, and the front end of the multi-degree-of-freedom mechanical arm is connected with the clamping jaw; a clamping station for clamping arrow is arranged in the clamping jaw;

the arrow casting mechanism is arranged on the rack, and is provided with an arrow hanging position for hanging an arrow, and the arrow hanging position is used for casting the arrow hung on the arrow hanging position; the arrow projection mechanism comprises a projection frame, a rotating shaft A, a driving motor A and a bracket; one end of the projection frame is a rear end, the other end of the projection frame is a front end, and a U-shaped notch used for hanging and placing arrow is arranged at the front end of the projection frame; the rotating shaft A is horizontally arranged and fixedly connected with the projecting frame, one end of the rotating shaft A is movably arranged on the rack through a bearing, and the other end of the rotating shaft A is connected with a shaft of the driving motor A through a coupling; the driving motor A is fixedly arranged on the rack, and a crankshaft of the driving motor A rotates to drive the rotating shaft A to rotate so as to drive the projectile frame to rotate in a vertical plane; the support is fixedly arranged on the rack and is positioned on the rotating path of the projecting frame, and when the support abuts against the lower end of the middle part of the projecting frame, the projecting frame is in a horizontal state; the arrow hanging position is a U-shaped notch;

the arrow angle adjusting mechanism is arranged on the rack, is positioned at the lower end of the arrow ejecting mechanism and is used for adjusting the angle of the arrow hung on the arrow hanging position; the arrow angle adjusting mechanism comprises a steering engine, a connecting rod and a C-shaped support hand; the steering engine is directly or indirectly fixedly arranged on the rack, and a crankshaft of the steering engine is connected with the front end of the connecting rod; the C-shaped support hand is positioned under the front end of the projection frame, one end of the C-shaped support hand is open, the other end of the C-shaped support hand is closed, the closed end of the C-shaped support hand is connected to the rear end of the connecting rod, and the C-shaped support hand rotates in a vertical plane under the driving of the steering engine.

2. The arrow casting robot of claim 1, wherein: the clamping jaw comprises a base, a C-shaped half-side jaw, a gear and an opening and closing driving motor; the base is fixedly arranged at the front end of the multi-degree-of-freedom mechanical arm; one side of each C-shaped half claw is provided with an inner arc surface, the other side of each C-shaped half claw is provided with an outer arc surface, one end of each C-shaped half claw is provided with a rotating shaft B, the other end of each C-shaped half claw is provided with a plurality of teeth at intervals, a seam is arranged between every two adjacent teeth, the two C-shaped half claws are rotatably arranged on the two sides of the base through the rotating shafts B respectively, and the inner arc surfaces are arranged oppositely; when the two C-shaped half-side claws rotate oppositely and are folded, the teeth and the gaps of the two C-shaped half-side claws are inserted in a staggered manner; when the two C-shaped half-side claws rotate back to be opened, the teeth of the two C-shaped half-side claws are separated from each other to form an opening; the two gears are respectively fixedly arranged on the two C-shaped half-side claws, are mutually meshed and are respectively and coaxially arranged with the two rotating shafts B; the opening and closing driving motor is fixedly arranged on the base and is associated with one of the two rotating shafts B so as to drive the rotating shaft B and the C-shaped half claw connected with the rotating shaft B to synchronously rotate, and the other rotating shaft B and the other C-shaped half claw are driven to synchronously rotate through the meshing of the two gears; the clamping station is located between the two C-shaped half-jaws.

3. The arrow casting robot of claim 2, wherein: the rotary driving component comprises a disc type motor, a plane bearing and a bottom plate; the disc type motor is fixedly arranged on the bottom plate, a crankshaft of the disc type motor vertically extends upwards, and the disc type motor is fixedly connected to the lower end of a middle plate of the bearing frame after penetrating through a lower plate of the bearing frame; the plane bearing is arranged between the bottom plate and the lower plate of the bearing frame, the upper half part of the plane bearing is fixedly connected with the lower plate of the bearing frame, and the lower half part of the plane bearing is fixedly connected with the bottom plate.

4. An arrow casting robot as claimed in claim 3, characterized in that: the lifting driving component comprises a driving motor B, a driving wheel, a driven wheel, a synchronous belt and an L-shaped connecting seat; the driving motor B is fixedly arranged on the upper surface of the middle plate of the bearing frame; the driving wheel is fixedly arranged on a crankshaft of the driving motor B; the driven wheel is movably arranged on an upper plate of the bearing frame through a bearing and a bearing seat, and the synchronous belt is tensioned and wound between the driving wheel and the driven wheel; one end of the L-shaped connecting seat is fixedly connected with the synchronous belt, and the other end of the L-shaped connecting seat is fixedly connected with the lifting plate.

5. The arrow casting robot of claim 4, wherein: the vertical plane swept by the rotating path of the C-shaped holder coincides with the vertical plane swept by the rotating path of the ejection frame.

6. The arrow casting robot according to any one of claims 1 to 5, wherein: the front wheel driving mechanism comprises a motor A and a coupler A, the motor A is fixedly arranged on the rack, and a machine shaft of the motor A is connected with the front wheel through the coupler A; the rear wheel driving mechanism comprises an arch frame, a guide rod, a floating plate, a damping spring, a motor B and a coupling B; the arch frame is fixedly arranged on the frame; the guide rod penetrates through the floating plate, and the upper end and the lower end of the guide rod are fixedly connected with the arch frame and the rack respectively; the floating plate is movably sleeved on the guide rod and is positioned between the arch frame and the machine frame; the damping spring is sleeved on the guide rod and positioned between the arch frame and the floating plate, and the floating plate is kept to be pressed downwards on the rack through elasticity; the motor B is fixedly arranged on the floating plate, and a shaft of the motor B is connected with the rear wheel through a coupling B; the front wheels and the rear wheels are all omni-directional wheels, and the included angle between any two adjacent omni-directional wheels is 90 degrees.

7. An arrow casting method applied to the arrow casting robot as claimed in claim 5 or 6, wherein before the automatic casting operation is performed, the arrow casting robot is in an initial state in which:

a. the connecting rod rotates to a vertical state and is positioned at the lower end of the steering engine;

b. the lower end of the middle part of the projecting frame is propped against the bracket;

c. the teeth of the two C-shaped half-side claws of the clamping jaw are separated from each other to form an opening;

the casting method comprises the following steps:

s01, grabbing arrow:

a. on one hand, a driving motor B is started, the lifting plate is driven to vertically move along the guide rod through the operation of the synchronous belt, on the other hand, the posture of the multi-degree-of-freedom mechanical arm is adjusted, the posture of the clamping jaw is adjusted, and the opening of the clamping jaw is enabled to be over against the arrow shaft of the target arrow;

b. the opening and closing driving motor is started to fold the two C-shaped half-side claws of the clamping jaw, and the arrow shaft is firmly clamped between the two C-shaped half-side claws of the clamping jaw;

s02, hanging the arrow on a throwing rack:

a. on one hand, a driving motor B is started, the lifting plate is driven to vertically move along the guide rod through the operation of the synchronous belt, and on the other hand, the posture of the multi-degree-of-freedom mechanical arm is adjusted, so that the posture of the clamping jaw is adjusted, and the arrow shaft extends into the U-shaped notch of the projection frame;

b. the opening and closing driving motor is started to separate the two C-shaped half-side claws of the clamping jaw, and the arrow is hung in the U-shaped notch of the projection frame through the step surface between the arrow and the arrow rod and is in a vertical state;

s03, adjusting the hanging posture of arrow: the steering engine is started to drive the connecting rod to rotate, and the included angle between the arrow and the horizontal plane is adjusted through the C-shaped hand support;

s04, arrow casting:

the driving motor A is started to drive the front end of the throwing frame to rotate towards the front upper part of the rack, and arrow vectors placed on the throwing frame are thrown out at the moment when the throwing frame stops rotating;

in this step, the faster the rotating speed of the projecting frame is, the farther the projecting distance is, and vice versa.

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