Cloud platform, shot transmitting system and robot
阅读说明:本技术 云台、弹丸发射系统及机器人 (Cloud platform, shot transmitting system and robot ) 是由 余小彬 于 2018-11-20 设计创作,主要内容包括:一种云台、弹丸发射系统及机器人,其中,云台包括第一电机(100)及弹丸管道(200);弹丸管道(200)的一端用于连接弹丸发射装置(500),另一端用于连接第一电机(100),第一电机(100)用于驱动弹丸管道(200)转动;第一电机(100)包括电机轴(110),电机轴(110)的内部形成有轴向贯穿的通孔(111),且通孔(110)的孔径大于弹丸(700)的外径,以使得弹丸(700)能够依次通过通孔(111)、弹丸管道(200)并输送至弹丸发射装置(500)。该云台结构简单、体积小、整体精度得到提升。(A cloud deck, a shot launching system and a robot are provided, wherein the cloud deck comprises a first motor (100) and a shot pipeline (200); one end of the projectile pipeline (200) is connected with the projectile launching device (500), the other end of the projectile pipeline is connected with the first motor (100), and the first motor (100) is used for driving the projectile pipeline (200) to rotate; the first motor (100) comprises a motor shaft (110), a through hole (111) which axially penetrates through the motor shaft (110) is formed inside the motor shaft (110), and the aperture of the through hole (110) is larger than the outer diameter of the projectile (700), so that the projectile (700) can sequentially pass through the through hole (111) and the projectile pipeline (200) and is conveyed to the projectile launching device (500). The cradle head is simple in structure, small in size and improved in overall precision.)
1. A cloud deck is used for being connected with a shot launching device, and the shot launching device is used for launching shots and is characterized by comprising a first motor and a shot pipeline;
one end of the projectile pipeline is connected with the projectile launching device, the other end of the projectile pipeline is connected with the first motor, and the first motor is used for driving the projectile pipeline to rotate;
the first motor comprises a motor shaft, an axially-penetrating through hole is formed in the motor shaft, and the aperture of the through hole is larger than the outer diameter of the projectile, so that the projectile can sequentially pass through the through hole and the projectile pipeline and is conveyed to the projectile launching device.
2. A head according to claim 1,
the holder further comprises a connecting assembly, and the connecting assembly is arranged on the first motor and used for supporting the projectile launching device;
the first motor is also used for driving the connecting assembly to rotate.
3. A head according to claim 2,
the connecting assembly comprises a mounting plate, a first mounting arm and a second mounting arm;
the mounting plate is arranged on the first motor, and the first mounting arm and the second mounting arm are arranged on two sides of the mounting plate;
an accommodating space is formed in the first mounting arm, and the projectile pipeline part is located in the accommodating space.
4. A head according to claim 3,
the first mounting arm and part of the shot pipeline are integrally formed.
5. A head according to claim 3,
the shot pipeline passes through the mounting panel with first motor is connected, wherein, be equipped with the adaptation on the mounting panel the first opening of through-hole, first opening is located first installation arm with between the second installation arm, be used for the intercommunication the shot pipeline with the motor shaft.
6. A head according to claim 5,
the mounting panel with be equipped with the boss on one of the shot pipeline, be equipped with the recess on the other, the boss embedding in the recess.
7. A head according to claim 6,
the mounting plate is provided with the boss, the boss is annular and surrounds the first opening, and the projection of the inner wall surface of the through hole of the motor shaft on the mounting plate is superposed with the inner ring of the boss.
8. A head according to claim 1,
the first motor comprises a rotor assembly, a stator assembly and the motor shaft, the rotor assembly is fixed with the motor shaft, and the stator assembly is rotationally connected with the rotor assembly and the motor shaft.
9. A head according to claim 8,
the stator assembly is connected with the shot pipeline and can drive the shot pipeline to rotate.
10. A head according to claim 9,
stator module includes stator base, first end cover and electricity accent circuit board, stator base with first end cover is connected and encloses and form the electrical apparatus appearance chamber, electricity accent circuit board is located the electrical apparatus holds the intracavity.
11. A head according to claim 10,
the first motor further comprises a functional interface, the functional interface is electrically connected with the electric regulation circuit board, and the stator base and/or the first end cover are/is provided with a second opening corresponding to the functional interface.
12. A head according to claim 10,
the motor shaft is rotatably arranged in the stator base and penetrates through the electric adjusting circuit board, and a third opening matched with the through hole is formed in the first end cover.
13. A head according to claim 12,
the shot pipeline pass through the mounting panel with first end cover is connected, wherein, the mounting panel with be equipped with the location arch on one of the first end cover, be equipped with the constant head tank on another, the protruding embedding in location is in the constant head tank.
14. A head according to claim 13,
the positioning bulge comprises a first bulge, the first end cover is provided with the first bulge, the first bulge is annular and surrounds the third opening, and the projection of the inner wall surface of the through hole on the first end cover is superposed with the inner ring of the first bulge;
the locating slot comprises a first locating slot, the mounting plate is provided with the first locating slot, and the first locating slot is matched with the first bulge.
15. A head according to claim 13,
the positioning bulge comprises a second bulge, the central line of the second bulge deviates from the axis of the motor shaft, the positioning groove comprises a second positioning groove, and the second positioning groove is matched with the second bulge.
16. A head according to claim 15,
the second protrusion is annular.
17. A head according to claim 10,
the stator base comprises a base body and a fixing part extending from the base body to the direction departing from the first end cover;
a first bearing is arranged between the motor shaft and the fixing part, and a locking sleeve positioned on the motor shaft is abutted to one end of the first bearing facing the seat body;
a second bearing is further arranged between the motor shaft and the fixing part, one end of the second bearing, which is far away from the base body, abuts against a second end cover in the rotor assembly, and the second end cover is sleeved on the motor shaft;
the inner wall of the fixing part is provided with a limiting part extending inwards, one end of the first bearing, which deviates from the seat body, abuts against one end of the limiting part, and one end of the second bearing, which faces towards the seat body, abuts against the other end of the limiting part.
18. A head according to claim 17,
the locking sleeve comprises a threaded sleeve, and the threaded sleeve is sleeved on the outer side of the motor shaft and is in threaded connection with the motor shaft.
19. A head according to claim 18,
the inner wall of the locking sleeve is provided with an internal thread, the motor shaft is provided with a thread section, the thread section is provided with an external thread, and the internal thread of the locking sleeve is bonded with the external thread on the motor shaft.
20. A head according to claim 10,
a limiting groove is formed in the inner wall surface of the first end cover, and one end of the motor shaft extends into the limiting groove.
21. A head according to claim 17,
the rotor assembly comprises a rotor magnetic ring, one end, facing the base, of the locking sleeve is connected with a mounting ring, and the rotor magnetic ring is embedded in the mounting ring.
22. A head according to claim 17,
the second end cover is provided with a fourth opening matched with the through hole and used for being connected with a bullet cabin, so that the bullets are conveyed to the bullet launching device through the through hole by the bullet cabin.
23. A head according to claim 17,
the stator assembly comprises a stator core, the rotor assembly further comprises a rotor magnet and a rotor yoke;
the rotor magnet is arranged on the inner wall of the rotor magnetic yoke, the rotor magnetic yoke is fixed on the second end cover, and the rotor magnetic yoke is nested and distributed on the outer side of the stator core and can rotate relative to the stator core.
24. A head according to claim 1,
the holder further comprises a second motor, the second motor is used for driving the shot launching device to rotate, and the driving direction of the first motor is different from that of the second motor.
25. A head according to claim 24,
the second motor is a pitch axis motor and is used for driving the projectile launching device to rotate around a pitch axis.
26. A head according to claim 1, 24 or 25,
the first motor is a yaw shaft motor and is used for driving the shot pipeline to rotate around a yaw shaft.
27. A head according to claim 1,
the projectile pipeline comprises a C-shaped pipe section and a connecting elbow, one end of the C-shaped pipe section is connected with the first motor through the connecting elbow, and the other end of the C-shaped pipe section is used for being connected with the projectile launching device.
28. A head according to claim 27,
the C-shaped pipe section is used for connecting the central line of one end of the projectile launching device along the transverse direction, and the connecting elbow is used for connecting the central line of one end of the first motor along the longitudinal direction.
29. A projectile firing system, comprising:
a projectile launching device;
a head according to any one of claims 1 to 28, wherein said projectile launching device is mounted on said head.
30. The projectile firing system as recited in claim 29,
the shot launching system also comprises a magazine assembly, and the magazine assembly comprises a magazine and a shot channel connected with the magazine;
the pill channel is communicated with a through hole of a first motor in the holder.
31. The projectile firing system as recited in claim 29,
the projectile launching device comprises a launching tube, an accelerating tube, a deformable friction wheel and a driving assembly;
the accelerating tube is butted with the launching tube;
the two friction wheels are oppositely arranged on two sides of the accelerating tube, and are partially positioned in the accelerating tube so as to abut against the shot positioned in the accelerating tube;
the driving assembly is used for driving the two friction wheels to rotate towards the direction of the launching tube simultaneously so that the shot is accelerated into the launching tube under the rotating force of the two friction wheels;
when the launching direction of the launching tube is the horizontal direction, the arrangement direction of the two friction wheels is the vertical direction.
32. The projectile launching system of claim 31,
the driving assembly comprises two driving motors, and the two driving motors correspondingly drive the two friction wheels to rotate.
33. The projectile firing system as recited in claim 32,
the driving motor is an outer rotor motor, the friction wheel is sleeved on a rotor shell of the outer rotor motor, and the rotor shell is used for driving the friction wheel to rotate.
34. The projectile firing system as recited in claim 32,
the friction wheel is characterized in that grooves are respectively formed in opposite side walls of the accelerating tube, mounting holes are formed in the grooves, and the friction wheel is located in the accelerating tube through the mounting holes.
35. A projectile firing system as claimed in claim 34, wherein said recess is provided with removable mounting portions on side walls thereof;
the mounting part comprises a mounting body and a mounting shell, and the mounting shell is arranged on the mounting body;
be equipped with accommodation space in the installation shell, driving motor and the friction pulley is located accommodation space.
36. The projectile firing system as recited in claim 35,
the projectile launching device further comprises a projectile communicating frame body, and the projectile communicating frame body is used for connecting the accelerating tube and the magazine;
the installation body is arranged on one side wall of the groove with the opening facing upwards, one end of the installation shell is connected with the installation body, and the other end of the installation shell is connected with the shot communication frame body.
37. The projectile launching system of claim 31,
the shot launching system further comprises a main control board, the main control board is located on one side, away from the launching tube, of the two friction wheels, and the main control board is electrically coupled with the driving assembly.
38. The projectile firing system as recited in claim 37,
the projectile launcher also comprises an outer cover, and the outer cover is used for covering the main control board and the at least one friction wheel.
39. The projectile launching system of claim 31,
when the cloud platform includes the second motor, two friction pulley with the second motor is adjacent to be set up.
40. A robot comprising a chassis, a power mechanism mounted to the chassis for driving the chassis in motion, and a projectile launching system as claimed in any one of claims 29 to 39, the projectile launching system being provided on the chassis.
41. A robot as claimed in claim 40,
when the projectile launching system comprises a magazine assembly, a first motor in the holder and a projectile channel in the magazine assembly are arranged on two opposite sides of the chassis.
Technical Field
The invention relates to the technical field of cloud platforms, in particular to a cloud platform, a shot launching system and a robot.
Background
The infantry robot plays a very important role in the match due to the advantages of a large number of roles, flexibility, high attack speed and the like. Wherein, the magazine capacity of infantry robot has decided sustainable combat time, and the stability of cloud platform has decided the strike precision to a certain extent, and these two aspects factor all have great influence to attack power.
In traditional infantry robot, on magazine and shot emitter integrated as an organic whole and place the pitch axis of cloud platform jointly in, the problem that this structure exists is: along with bullet quantity reduces, the control of cloud platform can receive the influence to further influence and strike the precision, and because the moment of torsion reason of cloud platform, can make the shot capacity than less, can not effectively prolong the time of battle.
In view of the above technical problems, the prior art proposes a scheme for separating a magazine from a projectile launching device to solve the problems of reduced precision of a cradle head and large restriction on the capacity of the magazine due to the reduction of bullets, but the scheme of the split design of the conventional magazine and the projectile launching device has the problems that a bullet supply link between the magazine and the projectile launching device is difficult to design and compatible with the cradle head, which often leads to complicated structure of the cradle head and overall reduced precision of the cradle head.
Disclosure of Invention
In view of the above, it is desirable to provide a tripod head that can solve at least one of the above-mentioned problems.
A cloud deck is used for being connected with a shot launching device, and the shot launching device is used for launching shots, wherein the cloud deck comprises a first motor and a shot pipeline; one end of the projectile pipeline is connected with the projectile launching device, the other end of the projectile pipeline is connected with the first motor, and the first motor is used for driving the projectile pipeline to rotate; the first motor comprises a motor shaft, an axially-penetrating through hole is formed in the motor shaft, and the aperture of the through hole is larger than the outer diameter of the projectile, so that the projectile can sequentially pass through the through hole and the projectile pipeline and is conveyed to the projectile launching device.
A projectile launching system comprising: a projectile launching device; in the cradle head according to any one of the above technical solutions, the shot-firing device is disposed on the cradle head.
A robot, comprising: the projectile launching device comprises a chassis, a power mechanism and a projectile launching system, wherein the power mechanism is arranged on the chassis and used for driving the chassis to move, and the projectile launching system is arranged on the chassis.
Compared with the prior art, the method has the following beneficial technical effects: according to the cradle head provided by the invention, the shot pipeline and the through hole on the motor shaft of the first motor are communicated to form a channel, so that the shots can be conveyed to the shot launching device along the through hole and the shot pipeline, the shot supply transmission requirements between the shot launching device and the magazine which are separately arranged are met, and the problems that the precision of the cradle head is reduced and the capacity of the magazine is greatly restricted due to the fact that the traditional magazine is positioned on the shot launching device are solved. Simultaneously, the shot can directly be followed the motor shaft of first motor and be transmitted in this structure, can not hinder the drive work of first motor like this, and realized drive and the integrated form that switches on between shot pipeline and the first motor and be connected, and need not to drive the shot pipeline through huge, complicated drive mechanism and rotate when satisfying the shot and carry, like this, the cloud platform structure is simpler relatively, the volume is littleer, and the direct drive through first motor has avoided because control response speed and the precision problem that drive mechanism brought, make the compatible effect between cloud platform and the shot emitter better, the whole precision of cloud platform obtains corresponding promotion.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic front view of a projectile launching system according to an embodiment of the invention;
FIG. 2 is a schematic cross-sectional structural view of the projectile launching system shown in FIG. 1;
FIG. 3 is a schematic left side view of the projectile launching system shown in FIG. 1;
FIG. 4 is a schematic front view of a projectile launching system (with the outer cover removed) according to one embodiment of the invention;
FIG. 5 is a schematic illustration of a partial cross-sectional view of a projectile launching system (with the outer cover removed) in accordance with one embodiment of the present invention;
FIG. 6 is an enlarged, fragmentary, schematic view of the partially sectioned configuration shown in FIG. 5;
FIG. 7 is a schematic rear view of the projectile launching system shown in FIG. 4;
FIG. 8 is a schematic bottom view of the projectile launching system shown in FIG. 4;
fig. 9 is a schematic perspective view of the projectile launching system shown in fig. 4;
FIG. 10 is a schematic view of the configuration of the launch tube of the projectile launching system shown in FIG. 4 rotated downward d degrees;
fig. 11 is a schematic perspective view of the projectile launching system shown in fig. 10;
FIG. 12 is an exploded schematic view of the projectile launching system shown in FIG. 4;
FIG. 13 is a partial schematic structural view of an exploded structure of the projectile launching system shown in FIG. 4;
fig. 14 is a schematic perspective view of a first motor according to an embodiment of the present invention;
FIG. 15 is a side view schematic of the first motor shown in FIG. 14;
FIG. 16 is a schematic bottom view of the first motor shown in FIG. 14;
fig. 17 is a cross-sectional structural schematic view of the first electric machine shown in fig. 14;
FIG. 18 is an exploded view of the first motor shown in FIG. 14;
FIG. 19 is a schematic diagram of the configuration of the projectile tube according to one embodiment of the invention;
fig. 20 is a schematic perspective view of a projectile launching device according to an embodiment of the present invention;
fig. 21 is a schematic perspective view of an accelerating tube according to an embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 21 is:
100 a first motor, 110 a motor shaft, 111 a through hole, 112 a thread section, 121 a second end cover, 1211 a fourth opening, 122 a rotor magnetic ring, 123 a rotor magnet, 124 a rotor magnetic yoke, 131 a stator base, 1311 a base body, 1312 a fixing part, 1313 a limiting part, 1314 a second opening, 132 a stator light guide pillar, 133 a stator iron core, 134 a first end cover, 1341 a third opening, 1342 a first protrusion, 1343 a second protrusion, 1344 a screw hole, 1345 a limiting groove, 135 an electrical apparatus cavity, 137 a functional interface, 138 a screw, 1381 a first bearing, 1382 a second bearing, 139 a locking sleeve, 1391 a mounting ring, 200 a projectile tube, 210 a connecting elbow, 211 a groove, 220C-shaped tube section, 221 a straight tube section, 222 a first elbow section, 223 a second elbow section, 300, 310 a mounting plate, 311 a first opening, a
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The embodiment of the invention provides a cloud deck. The cradle head can be used for a projectile launching system, and the projectile launching system can be used for robots, such as land robots (infantry robots), underwater robots, aerial robots and the like. The robot may be remotely controlled by a user. The robot has a chassis, and the cloud platform is located on the chassis, can be equipped with on the cloud platform such as shot emitter. Multiple robots may be grouped together to make a counter-blow to form a robot race.
A pan head, a projectile launching system and a robot according to some embodiments of the present invention are described below with reference to fig. 1 to 21.
As shown in fig. 1 and 2, an embodiment of the first aspect of the present invention provides a cloud deck, which is configured to be connected to a
Wherein, the first motor driving the
It will be appreciated that the
Of course, in other embodiments, the cradle head may be additionally provided with a motor for driving the
In the present embodiment, as shown in fig. 3, the
In other embodiments, the
In this embodiment, the first mounting
In the present embodiment, as shown in fig. 13, one end of the
In the present embodiment, as shown in fig. 5, 6 and 13, the mounting
In other embodiments, it is also possible to design the
In the present embodiment, preferably, as shown in fig. 6, the
In the present embodiment, the
Further, the stator assembly is connected to the
In other embodiments, the rotor assembly and/or
In this embodiment, as shown in fig. 17, the stator assembly includes a
Optionally, the stator assembly may also include a stator
In this embodiment, as shown in fig. 10, 13, 14, 15 and 18, the
In other embodiments, the
In this embodiment, as shown in fig. 13, 14, 15 and 18, the
In this embodiment, the
More specifically, as shown in fig. 13 and 15, the positioning protrusion includes a
In addition, as shown in fig. 13 and 15, the positioning protrusion further includes a
Preferably, as shown in FIG. 16, the
In the present embodiment, as shown in fig. 17 and 18, the
Since the upper end of the
Therefore, in this embodiment, the axial movement of the
Preferably, as shown in fig. 17, the locking
Further, the inner wall of the locking
In the present embodiment, as shown in fig. 17 and 18, a
In this embodiment, as shown in fig. 17 and 18, the rotor assembly includes a rotor
Further, the
Wherein, the
The upper end of the
In the present embodiment, as shown in fig. 4, 9, 10 and 11, the pan/tilt head further includes a
More specifically, the
Further, as shown in fig. 4, 9, 10 and 11, the
In this embodiment, the
In the present embodiment, as shown in fig. 19, the
Preferably, the connecting
More specifically, as shown in fig. 19, the C-shaped
Preferably, the C-shaped
As shown in fig. 1 and 2, an embodiment of the second aspect of the present invention provides a projectile launching system, comprising: a
More specifically, as shown in fig. 4 and 9, the projectile launching system further includes a
In the present embodiment, as shown in fig. 20, the
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