阅读说明：本技术 一种弹药自动输送装置 (Automatic ammunition conveying device ) 是由 梁忠伟 范立维 吴子轩 吴俊� 刘晓初 冯文康 龙胜 于 2019-11-28 设计创作，主要内容包括：本发明公开一种弹药自动输送装置,包括弹药存输机构、弹药输出对接机构以及驱动弹药输出对接机构沿着所述弹药存输机构输出端的延伸方向进行往复运动的对接驱动机构；其中,所述弹药存输机构包括弹药存输管道、用于推动弹药在所述弹药存输管道上移动的推动机构以及设置在所述弹药存输管道两端的防止弹药掉落的自适应阻挡机构；所述弹药输出对接机构包括弹药输出管道、设置在所述弹药输出管道输入端用于驱动弹药在所述弹药输出管道内运动的输出驱动机构以及设置在所述弹药输出管道输出端用于调节弹药能准确输送至投掷机构上的调节机构。该装置不仅能够储存弹药,还能够自动连续地将弹药输送至投掷机构中,提高了弹药的输送效率和投掷效率。(The invention discloses an automatic ammunition conveying device which comprises an ammunition storing and conveying mechanism, an ammunition output butt joint mechanism and a butt joint driving mechanism, wherein the butt joint driving mechanism drives the ammunition output butt joint mechanism to reciprocate along the extension direction of an output end of the ammunition storing and conveying mechanism; the ammunition storage and transportation mechanism comprises an ammunition storage and transportation pipeline, a pushing mechanism used for pushing ammunition to move on the ammunition storage and transportation pipeline, and self-adaptive blocking mechanisms which are arranged at two ends of the ammunition storage and transportation pipeline and used for preventing the ammunition from falling; the ammunition output butt joint mechanism comprises an ammunition output pipeline, an output driving mechanism and an adjusting mechanism, wherein the output driving mechanism is arranged at the input end of the ammunition output pipeline and used for driving ammunition to move in the ammunition output pipeline, and the adjusting mechanism is arranged at the output end of the ammunition output pipeline and used for adjusting the ammunition to be accurately conveyed to the throwing mechanism. The device not only can store ammunition, can also transport ammunition to throwing mechanism in succession automatically, has improved the transport efficiency and the throwing efficiency of ammunition.)

1. An automatic ammunition conveying device is characterized by comprising an ammunition storage and conveying mechanism, an ammunition output abutting mechanism and an abutting driving mechanism, wherein the ammunition output abutting mechanism conveys ammunition in the ammunition storage and conveying mechanism into a throwing mechanism, and the abutting driving mechanism drives the ammunition output abutting mechanism to reciprocate along the extension direction of an output end of the ammunition storage and conveying mechanism; wherein the content of the first and second substances,

the ammunition storage and transportation mechanism comprises an ammunition storage and transportation pipeline, a pushing mechanism and self-adaptive blocking mechanisms, wherein the ammunition storage and transportation pipeline is arranged on the rack and used for storing and transporting ammunition, the pushing mechanism is used for pushing the ammunition to move on the ammunition storage and transportation pipeline, and the self-adaptive blocking mechanisms are arranged at two ends of the ammunition storage and transportation pipeline and used for preventing the ammunition from falling;

the ammunition output butt joint mechanism comprises an ammunition output pipeline, an output driving mechanism and an adjusting mechanism, wherein the output driving mechanism is arranged at the input end of the ammunition output pipeline and used for driving ammunition to move in the ammunition output pipeline, and the adjusting mechanism is arranged at the output end of the ammunition output pipeline and used for adjusting the ammunition to be accurately conveyed to the throwing mechanism.

2. The automatic ammunition conveying device according to claim 1, wherein the pushing mechanism comprises a rotary motor arranged at the input end of the ammunition storage and conveying pipeline, a conveying motor arranged at the output end of the ammunition storage and conveying pipeline, two conveying ropes arranged in the ammunition storage and conveying pipeline in an up-down opposite mode, and a pushing plate arranged between the two conveying ropes and used for pushing ammunition; and one end of each of the two conveying ropes is connected with the rotary motor, and the other end of each of the two conveying ropes is connected with the conveying motor.

3. An automatic ammunition conveying device according to claim 2, wherein the adaptive blocking mechanism comprises a blocking casing mounted outside the ammunition storage and delivery pipe, a blocking rod penetrating through the blocking casing and extending into the ammunition storage and delivery pipe, a wedge block arranged at the tail end of the blocking rod, and a return spring arranged between the wedge block and the blocking casing; the reset spring cover is established block on the pole, this reset spring one end acts on block the casing, the other end acts on the wedge, the wedge face orientation of wedge the input of ammunition storage and transportation pipeline.

4. An automatic ammunition conveying device according to claim 3, wherein the ammunition output pipeline comprises a straight section which is butted with the output end of the ammunition storage and conveying pipeline and a circular arc section which is connected to the straight section, the circular arc section extends downwards along the straight section, the output driving mechanism is arranged on the straight section, and the adjusting mechanism is arranged on the circular arc section.

5. The automatic ammunition conveying device as claimed in claim 4, wherein the output driving mechanism comprises an output motor and a pushing rod connected to a spindle of the output motor and used for pushing the ammunition in the straight section to move; the output motor is installed below the straight line section through a fixing plate, an avoiding groove used for avoiding the push rod is formed in the straight line section, and the avoiding groove extends along the direction of the straight line section; one end of the push rod is vertically connected with the output motor spindle, and the other end of the push rod penetrates through the avoiding groove and extends to the inside of the straight line section.

6. The automatic ammunition conveying device according to claim 5, wherein the adjusting mechanism comprises an adjusting motor and an adjusting rod connected to a spindle of the adjusting motor for adjusting the dropping of ammunition; the adjusting motor is installed at the lower end of the arc section through a connecting plate, one end of the adjusting rod is vertically connected to a main shaft of the adjusting motor, and the other end of the adjusting rod extends into the arc section; and the arc section is provided with an avoiding groove for avoiding the adjusting rod.

7. The automatic ammunition conveying device according to claim 6, wherein the adjusting rod is in a cross shape, and the middle part of the adjusting rod is connected to the main shaft of the adjusting motor.

8. An automatic ammunition conveying device according to claim 7, wherein the inlet of the straight section is provided with an adaptive blocking mechanism.

9. An automatic ammunition conveying device according to claim 8, wherein a guide assembly for guiding the ammunition output docking mechanism to reciprocate along the extending direction of the ammunition output end of the ammunition storage and delivery mechanism is arranged between the ammunition output docking mechanism and the rack, and the guide assembly comprises a guide rail arranged on the rack and a slide block which is arranged on the side edge of the ammunition output pipeline and matched with the guide rail.

10. The automatic ammunition conveying device according to claim 9, wherein the docking driving mechanism comprises a docking motor arranged on the frame and a swinging rod vertically connected to a main shaft of the docking motor; the swing rod is provided with a sliding groove, and the sliding groove extends along the axial direction of the swing rod; and a driving rod is arranged between the ammunition output pipeline and the swinging rod, one end of the driving rod is fixedly connected with the side edge of the ammunition output pipeline, and the other end of the driving rod is in sliding fit in the sliding groove.

Technical Field

The invention relates to the field of rotating disc type throwing robots, in particular to an automatic ammunition conveying device.

Background

With the continuous development of economy, the application field of the robot is wider and wider, and the robot is expanded from industrial application to non-industrial application, such as operation, fruit picking, pruning, tunneling and the like. Due to the excellent performance of the robot, in recent years, military robots are also in a high-speed development stage in many countries, and the military robots include rescue robots, detection robots, explosive ordnance disposal robots, transportation robots, missile throwing robots and the like. However, the conventional projectile throwing robot needs to manually set ammunition in a throwing mechanism and then throw the ammunition toward a target by the throwing mechanism, which is inefficient.

Disclosure of Invention

The present invention has been made to overcome the above-mentioned problems, and an object of the present invention is to provide an automatic ammunition feeder which can automatically and continuously feed ammunition into a throwing mechanism while storing ammunition, thereby improving the feeding efficiency and throwing efficiency of ammunition.

The purpose of the invention is realized by the following technical scheme:

an automatic ammunition conveying device is characterized by comprising an ammunition storage and conveying mechanism, an ammunition output abutting mechanism and an abutting driving mechanism, wherein the ammunition output abutting mechanism conveys ammunition in the ammunition storage and conveying mechanism into a throwing mechanism, and the abutting driving mechanism drives the ammunition output abutting mechanism to reciprocate along the extension direction of an output end of the ammunition storage and conveying mechanism; wherein the content of the first and second substances,

the ammunition storage and transportation mechanism comprises an ammunition storage and transportation pipeline, a pushing mechanism and self-adaptive blocking mechanisms, wherein the ammunition storage and transportation pipeline is arranged on the rack and used for storing and transporting ammunition, the pushing mechanism is used for pushing the ammunition to move on the ammunition storage and transportation pipeline, and the self-adaptive blocking mechanisms are arranged at two ends of the ammunition storage and transportation pipeline and used for preventing the ammunition from falling;

the ammunition output butt joint mechanism comprises an ammunition output pipeline, an output driving mechanism and an adjusting mechanism, wherein the output driving mechanism is arranged at the input end of the ammunition output pipeline and used for driving ammunition to move in the ammunition output pipeline, and the adjusting mechanism is arranged at the output end of the ammunition output pipeline and used for adjusting the ammunition to be accurately conveyed to the throwing mechanism.

The working principle of the automatic ammunition conveying device is as follows:

firstly, ammunition needs to be manually stored in an ammunition storage and transportation pipeline, ammunition is filled from the input end of the ammunition storage and transportation pipeline, and when the ammunition is filled, the ammunition can be prevented from falling from the input end and the output end of the ammunition storage and transportation pipeline due to the self-adaptive blocking mechanism; then, the butt joint driving mechanism drives the ammunition output pipeline to approach to the output end of the ammunition storage and transmission pipeline until the input end of the ammunition output pipeline is matched and butted with the output end of the ammunition storage and transmission pipeline, when the ammunition needs to be conveyed to the throwing mechanism, the pushing mechanism pushes the ammunition of the ammunition storage and transmission pipeline, the ammunition at the output end of the ammunition storage and transmission pipeline overcomes the elastic force of the self-adaptive blocking mechanism to move to the ammunition output pipeline, and the ammunition moves from the input end of the ammunition output pipeline to the output end under the driving of the output driving mechanism until the adjusting mechanism blocks the ammunition at the output end of the; then, the butt joint driving mechanism drives the ammunition output pipeline to be far away from the output end of the ammunition storage and transmission pipeline and moves towards the throwing mechanism until the output end is positioned right above the throwing mechanism; and then, the adjusting mechanism drives the ammunition to be conveyed to the throwing mechanism from the output end of the ammunition output pipeline, the butt joint driving mechanism drives the ammunition output pipeline to approach to the output end of the ammunition storage and conveying pipeline and the ammunition storage and conveying pipeline to be in butt joint again, preparation is made for conveying the ammunition next time, and finally, the throwing mechanism throws the ammunition to a target to finish automatic conveying of the ammunition.

Through the reciprocating motion of butt joint actuating mechanism drive ammunition output tube, realize the continuous transport to the ammunition, carry the ammunition to throwing mechanism at last, the ammunition not only can be stored during the ammunition deposits the delivery tube, but also very big improvement ammunition conveying efficiency.

In a preferred embodiment of the present invention, the pushing mechanism includes a rotary motor disposed at an input end of the ammunition storage and transportation pipeline, a conveying motor disposed at an output end of the ammunition storage and transportation pipeline, two conveying ropes disposed in the ammunition storage and transportation pipeline in an up-down opposite manner, and a pushing plate disposed between the two conveying ropes for pushing ammunition; and one end of each of the two conveying ropes is connected with the rotary motor, and the other end of each of the two conveying ropes is connected with the conveying motor. The ammunition is filled in the ammunition storage and transportation pipeline, the ammunition can be prevented from falling from the output end or the input end in the ammunition filling process under the action of the self-adaptive blocking mechanism, and when ammunition needs to be thrown, the conveying rope can be driven by the conveying motor to move towards the output end in the ammunition storage and transportation pipeline, so that the pushing plate is driven to move forwards in the ammunition storage and transportation pipeline, the ammunition is further pushed to move forwards, and the ammunition is finally conveyed to the ammunition output butt joint mechanism; when the ammunition is completely launched, the rotary motor drives the two conveying ropes to move towards the input end, and then the pushing plate is driven to move back, so that preparation is made for next manual ammunition filling.

Preferably, an opening for filling is arranged on the side edge of the input end of the ammunition storage and transportation pipeline; the advantage is that it is more convenient to put ammunition into the ammunition storage and transportation pipeline from the opening.

Preferably, the adaptive blocking mechanism comprises a blocking housing mounted outside the ammunition storage and transportation pipeline, a blocking rod penetrating through the blocking housing and extending into the ammunition storage and transportation pipeline, a wedge block arranged at the tail end of the blocking rod, and a return spring arranged between the wedge block and the blocking housing; the reset spring cover is established block on the pole, this reset spring one end acts on block the casing, the other end acts on the wedge, the wedge face orientation of wedge the input of ammunition storage and transportation pipeline. By adopting the structure, when ammunition is filled into the ammunition storage and transportation pipeline, the ammunition touches the wedge-shaped surface of the wedge-shaped block, the wedge-shaped block overcomes the elasticity of the reset spring and is far away from the ammunition storage and transportation pipeline along the axial direction of the blocking rod in the ammunition pushing process, the blocking rod also slides on the blocking shell, when the ammunition is filled, the wedge-shaped block resets under the action of the reset spring, and the ammunition cannot fall from the input end of the ammunition storage and transportation pipeline under the self-locking action of the wedge-shaped block as the wedge-shaped surface faces the input end of the ammunition storage and transportation pipeline; the self-adaptive blocking mechanism arranged at the output end of the ammunition storage and transportation pipeline prevents ammunition from falling from the output end when the ammunition storage and transportation pipeline is separated from the ammunition output butt joint mechanism.

In a preferred aspect of the present invention, the ammunition output pipeline includes a straight line segment that is butted with the output end of the ammunition storage and transportation pipeline, and an arc segment connected to the straight line segment, the arc segment extends downward along the straight line segment, the output driving mechanism is disposed on the straight line segment, and the adjusting mechanism is disposed on the arc segment. The working principle of the structure is as follows: when ammunition needs to be conveyed to a throwing mechanism, firstly, the butt joint driving mechanism drives the ammunition output pipeline to be close to the output end of the ammunition storage and transmission pipeline, the butt joint of the straight line segment and the output end of the ammunition storage and transmission pipeline is known, the ammunition is pushed to the straight line segment of the ammunition output pipeline under the action of the pushing mechanism, the ammunition is conveyed to the arc segment under the driving of the output driving mechanism, the ammunition is blocked on the arc segment through the adjusting mechanism, then, the butt joint driving mechanism drives the ammunition output pipeline to be far away from the output end of the ammunition storage and transmission pipeline until the outlet of the arc segment is positioned right above the throwing mechanism, finally, the adjusting mechanism conveys the ammunition to the throwing mechanism. Through setting up straightway and circular arc section, can be better carry the ammunition to throwing mechanism.

Preferably, the output driving mechanism comprises an output motor and a push rod connected to a main shaft of the output motor and used for pushing the ammunition in the linear section to move; the output motor is installed below the straight line section through a fixing plate, an avoiding groove used for avoiding the push rod is formed in the straight line section, and the avoiding groove extends along the direction of the straight line section; one end of the push rod is vertically connected with the output motor spindle, and the other end of the push rod penetrates through the avoiding groove and extends to the inside of the straight line section. The rotation of the main shaft of the conveying motor can drive the push rod to rotate along the main shaft, and the tail end of the push rod can push ammunition in the straight line section to be conveyed to the circular arc section along the straight line section.

Preferably, the adjusting mechanism comprises an adjusting motor and an adjusting rod connected to a main shaft of the adjusting motor and used for adjusting dropping of ammunition; the adjusting motor is installed at the lower end of the arc section through a connecting plate, one end of the adjusting rod is vertically connected to a main shaft of the adjusting motor, and the other end of the adjusting rod extends into the arc section; and the arc section is provided with an avoiding groove for avoiding the adjusting rod. Through setting up adjustment mechanism, adjust the pole and can block the ammunition of arc section in the arc section, when adjusting motor drive regulation pole and rotate downwards, adjust the pole and keep away from the arc section gradually, the ammunition drops to throwing mechanism directly over downwards under the effect of self gravity. In this way, the outlet end of the circular arc segment can be opened and closed precisely by the adjusting mechanism, which is favorable for transporting ammunition to the throwing mechanism better.

Furthermore, the adjusting rod is in a cross shape, and the middle part of the adjusting rod is connected to the main shaft of the adjusting motor; the adjustable ammunition throwing mechanism has the advantages that the output end of the arc section can be continuously opened and closed through the cross-shaped adjusting rod, ammunition can better fall onto the throwing mechanism under the pushing of the adjusting rod, and the conveying efficiency is improved.

Preferably, a self-adaptive blocking mechanism is arranged on an input port of the straight line section; this has the advantage that when ammunition is transported from the ammunition storage and delivery pipe to the straight section, the ammunition is prevented from falling from the input port of the straight section.

Preferably, a guiding assembly for guiding the ammunition output docking mechanism to reciprocate along the extending direction of the output end of the ammunition storage and delivery mechanism is arranged between the ammunition output docking mechanism and the rack, and the guiding assembly comprises a guide rail arranged on the rack and a sliding block which is arranged on the side edge of the ammunition output pipeline and matched with the guide rail. Through setting up the direction subassembly, guaranteed the stability of ammunition output docking mechanism motion.

In a preferred embodiment of the present invention, the docking driving mechanism includes a docking motor disposed on the rack and a swing rod vertically connected to a main shaft of the docking motor; the swing rod is provided with a sliding groove, and the sliding groove extends along the axial direction of the swing rod; and a driving rod is arranged between the ammunition output pipeline and the swinging rod, one end of the driving rod is fixedly connected with the side edge of the ammunition output pipeline, and the other end of the driving rod is in sliding fit in the sliding groove. The butt joint motor drives the swinging rod to swing back and forth around the main shaft, and the driving rod slides in the sliding groove to drive the ammunition output pipeline to reciprocate along the extending direction of the output end of the ammunition storage and transportation mechanism.

Preferably, the ammunition storage and delivery pipe is "S" shaped, which has the advantage that it is possible to allow the ammunition storage and delivery pipe to store more ammunition in the chassis.

Preferably, the upper end and the lower end of the ammunition storage and transmission pipeline are provided with conveying grooves matched with the conveying ropes in a sliding mode. The conveying rope moves in the conveying groove, so that the moving stability of the conveying rope in the moving conveying groove can be improved, and the conveying stability of ammunition on the ammunition storage and conveying pipeline is ensured.

Preferably, the inner diameters of the turning part of the ammunition storage and transmission pipeline and the circular arc section of the ammunition output pipeline are larger than the inner diameters of the straight part and the straight line section of the ammunition storage and transmission pipeline. This allows for better passage of ammunition at bends and segments of arcs.

Compared with the prior art, the invention has the following beneficial effects:

the butt joint driving mechanism drives the ammunition output butt joint mechanism to reciprocate along the extension direction of the output end of the ammunition storage and transportation mechanism, so that the matching butt joint of an ammunition storage and transportation pipeline and an ammunition output pipeline is realized, an ammunition is driven to move on the ammunition storage and transportation pipeline to the ammunition output pipeline by the pushing mechanism, the ammunition is driven to move to the output end along the ammunition output pipeline by the output driving mechanism, the ammunition output pipeline is driven to move to the throwing mechanism by the butt joint driving mechanism, and the ammunition is transported to the throwing mechanism by the adjusting mechanism; the ammunition storage and transportation mechanism not only can store a large amount of ammunitions, but also can automatically and continuously convey the ammunitions to the throwing mechanism from the ammunition storage and transportation pipeline, so that the manual ammunition filling in the prior art is replaced, and the conveying efficiency and the throwing efficiency of the ammunitions are greatly improved.

Drawings

Fig. 1-2 are schematic structural views of a first embodiment of an automatic ammunition feeding apparatus according to the present invention; fig. 1 is a perspective view, and fig. 2 is a perspective view of another viewing angle direction.

Fig. 3 is a schematic perspective view of the ammunition storage and delivery mechanism of the present invention.

Fig. 4 is a partially enlarged view of a portion a in fig. 3.

5-6 are schematic structural views of the adaptive blocking mechanism in the present invention; fig. 5 is a perspective view, and fig. 6 is a sectional view.

Fig. 7-8 are schematic structural views of an ammunition output docking mechanism in accordance with the present invention; fig. 7 is a perspective view, and fig. 8 is a perspective view of another viewing angle direction.

Fig. 9 is a schematic perspective view of an adjustment lever according to the present invention.

Fig. 10 is a schematic structural view of a second embodiment of an automatic ammunition feeding apparatus according to the present invention.

Detailed Description

In order to make those skilled in the art understand the technical solutions of the present invention well, the following description of the present invention is provided with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.