阅读说明：本技术 一种室外高空打靶机器人 (Outdoor high-altitude target shooting robot ) 是由 史小华 李月娟 庞英杰 丰尚宇 姚吉路 刘瑞发 张朝辉 于 2019-10-14 设计创作，主要内容包括：本发明涉及一种室外高空打靶机器人,属于打靶机器人的技术领域,所述打靶机器人能够在环形的轨道上以不同的速度进行运动,所述轨道由若干个支撑柱支撑固定在高空；所述打靶机器人包括驱动装置、从动装置,所述驱动装置和从动装置的底部通过合页与转向装置连接,所述转向装置底部固定连接用于安装放置电池的电池固定架,所述电池固定架放置电池的电池底板底面固定设置若干个靶面固定架,所述靶面固定架的两侧固定安装靶面。能进行以不同速度绕环形轨道运动的室外高空打靶机器人,主要适用于地面士兵采用射击武器模拟训练射击室外高空运动目标。(The invention relates to an outdoor high-altitude target practice robot, belonging to the technical field of target practice robots, wherein the target practice robot can move on an annular track at different speeds, and the track is supported and fixed at high altitude by a plurality of support columns; the target practice robot comprises a driving device and a driven device, the bottoms of the driving device and the driven device are connected with a steering device through hinges, the bottom of the steering device is fixedly connected with a battery fixing frame used for installing and placing a battery, a battery bottom plate bottom surface of the battery fixing frame used for placing the battery is fixedly provided with a plurality of target surface fixing frames, and target surfaces are fixedly arranged on two sides of the target surface fixing frames. The outdoor high-altitude target shooting robot capable of moving around the annular track at different speeds is mainly suitable for ground soldiers to simulate and train shooting outdoor high-altitude moving targets by shooting weapons.)

1. The utility model provides an outdoor high altitude robot of shooing which characterized in that: the target practice robot can move on an annular track (1) at different speeds, and the track (1) is supported and fixed at high altitude by a plurality of supporting columns (15); the target practice robot comprises a driving device (2) and a driven device (10), the bottoms of the driving device (2) and the driven device (10) are connected with a steering device (9) through hinges (14), the bottom of the steering device (9) is fixedly connected with a battery fixing frame (8) used for installing and placing a battery (7), a battery bottom plate (6) of the battery (7) is fixedly provided with a plurality of target surface fixing frames (5) through the battery fixing frame (8), and target surfaces (4) are fixedly arranged on two sides of the target surface fixing frames (5).

2. An outdoor high-altitude target practice robot according to claim 1, characterized in that: the driving device (2) and the driven device (10) are arranged in a linear array along the direction of the track (1); the driving device (2) and the driven device (10) can rotate around the hinge (14) and turn over 90 degrees outside the axial track (1).

3. An outdoor high-altitude target practice robot according to claim 1, characterized in that: the steering device (9) comprises two lower connecting plates (9001) arranged along the radial direction of the track (1), and two ends of each lower connecting plate (9001) are respectively connected with the driving device (2) and the driven device (10) through hinges (14); the steering device (9) further comprises an upper connecting plate (9003) which is axially arranged along the track (1), the upper connecting plate (9003) and the lower connecting plate (9001) realize relative rotation through arranging a rotating table (9002), and the lower connecting plate (9001), the rotating table (9002) and the upper connecting plate (9003) are connected together through a hexagonal head bolt (9005) and a locknut (9004); surface mounting has cushion (12) down on connecting plate (9001), install universal wheel (11) that prevent the damage of target robot jolting on cushion (12).

4. An outdoor high-altitude target practice robot according to claim 3, wherein: two sides of the end part of the lower connecting plate (9001) face downwards to be provided with side connecting plates extending out of the track (1), a quick lock catch (3) is arranged between each side connecting plate and the driving device (2) and between each side connecting plate and the driven device (10), a wrench part of each quick lock catch (3) is connected with the side connecting plates through threaded connecting pieces, and a lock catch part of each quick lock catch (3) is connected with the two driving side connecting plates (2002) of the driving device (2) and the two driven side connecting plates (1002) of the driven device (10) through the threaded connecting pieces; the two driving side connecting plates (2002) are fixedly connected through driving side screw connecting pieces (2004), and the two driven side connecting plates (1002) are fixedly connected through driven side screw connecting pieces (2004).

5. An outdoor high-altitude target practice robot according to claim 4, wherein: the driving device (2) comprises a servo motor (2006), and the end part of the servo motor (2006) facing the driven device (10) is connected with a matched speed reducer (2007) through a threaded connecting piece; the output shaft of the speed reducer is connected with the driving wheel (2001) through a flat key; the speed reducer (2007) is connected with a speed reducer support (2008) on the upper portion through a threaded connection piece, an upper supporting plate (2005) is connected above the speed reducer support (2008) through a threaded connection piece, the upper supporting plate (2005) is in an inverted U shape and clamps the two driving side connecting plates (2002), and the upper supporting plate (2005) and the two driving side connecting plates (2002) are fixedly connected through long bolts; a first lateral guide wheel (2009) is arranged at a position, close to the track (1), between the two driving side connecting plates (2002), the inside of a cavity of the first lateral guide wheel (2009) is connected with a first lateral guide wheel connecting block (2010) through a threaded connecting piece, threaded holes are formed in two side faces of the first lateral guide wheel connecting block (2010), and the driving side connecting plates (2002) on two sides are connected through the threaded connecting piece; the bottom parts of the two driving side connecting plates (2002) are connected through a threaded connection piece to be used for connecting the hinge connecting plate (2003) with the hinge (14).

6. An outdoor high-altitude target practice robot according to claim 5, wherein: a shaft (1006) is arranged at the position, corresponding to an output shaft of a speed reducer (2007), of the two driven side connecting plates (1002), the end portion, close to a driving wheel (2001), of the shaft (1006) is in a stepped structure, a driven wheel (1001) is fixed at the stepped structure of the shaft (1006) through an elastic retainer ring (1007), and a bearing is installed in the driven wheel (1001); the end part, far away from the driving wheel (2001), of the shaft (1006) penetrates through a shaft connecting block (1005), threaded holes are formed in two side faces of the shaft connecting block (1005) respectively, the shaft connecting block (1005) is connected with a driven side connecting plate (1002) through threaded connecting pieces, a smooth hole is further formed in the middle of the shaft connecting block (1005) in the vertical direction, a connecting shaft is reinforced and fixed through the threaded connecting pieces, and a fixing shaft (1006) is reinforced through the threaded connecting pieces; a second lateral guide wheel (1008) is arranged at the same position of the two driven side connecting plates (1002) at the position corresponding to the first lateral guide wheel (2009), the cavity of the second lateral guide wheel (1008) is connected with a lateral second guide wheel connecting block (1009) through a threaded connecting piece, two side faces of the second lateral guide wheel connecting block (1009) are provided with threaded holes, and the driven side connecting plates (1002) at two sides are connected through the threaded connecting piece; and the bottoms of the two driven side connecting plates (1002) are connected through a threaded connecting piece to be used for connecting a hinge connecting block (2003) with the hinge (14).

7. An outdoor high-altitude target practice robot according to claim 3, wherein: the target surface is provided with a laser receiving sensor for receiving the weapon transmitting signal.

Technical Field

The invention relates to an outdoor high-altitude target practice robot, and belongs to the technical field of target practice robots.

Background

At present, the target shooting robot capable of flexibly moving on the ground appears in China, and is characterized by being flexible, capable of outputting targets at any time, high in stability and the like, but the target shooting robot is more applicable to training and aiming at ground moving targets of rifles and other weapons, and is not applicable to occasions for shooting targets of high-altitude moving objects. An indoor target practice robot with the application number of CN201910091265.X can meet indoor training shooting; for another example, an intelligent targeting robot with application number CN201810986916.7 can automatically move to a target point according to navigation to provide training; for another example, an outdoor target-shooting robot with application number CN201910091754.5, which carries a target body to realize free movement on the outdoor ground, but none of the above three patents is suitable for aiming and shooting high-altitude moving targets.

Shooting weapons such as rifles, rocket tubes and the like are conventional effective weapons for hitting targets at short distances in the middle and short distances, can hit targets such as armored vehicles, tank combat vehicles, military works, air helicopters and the like in the middle and short distances, and can meet the combat requirements of soldiers. The special training equipment for aiming and shooting the high-altitude moving object is lacked in China at present by looking up data. Based on the research background, the patent provides an outdoor shooting robot capable of circularly moving on a high-altitude circular track at different speeds, and the training requirement of soldiers for shooting high-altitude moving targets can be met.

Disclosure of Invention

The invention aims to provide an outdoor high-altitude target shooting robot which can move around an annular track at different speeds and is mainly suitable for ground soldiers to shoot outdoor high-altitude moving targets by simulated training of shooting weapons.

In order to achieve the purpose, the invention adopts the technical scheme that:

an outdoor high-altitude target practice robot can move on an annular track at different speeds, and the track is supported and fixed at high altitude by a plurality of support columns; the target practice robot comprises a driving device and a driven device, the bottoms of the driving device and the driven device are connected with a steering device through hinges, the bottom of the steering device is fixedly connected with a battery fixing frame used for installing and placing a battery, a battery bottom plate bottom surface of the battery fixing frame used for placing the battery is fixedly provided with a plurality of target surface fixing frames, and target surfaces are fixedly arranged on two sides of the target surface fixing frames.

The technical scheme of the invention is further improved as follows: the driving device and the driven device are arranged in a linear array along the track direction; the driving device and the driven device can turn 90 degrees around the hinge rotating shaft to the outer side of the track.

The technical scheme of the invention is further improved as follows: the steering device comprises two lower connecting plates arranged along the radial direction of the track, and two ends of each lower connecting plate are respectively connected with the driving device and the driven device through hinges; the steering device further comprises an upper connecting plate arranged along the axial direction of the track, the upper connecting plate and the lower connecting plate realize relative rotation through arranging a rotating table, and the lower connecting plate, the rotating table and the upper connecting plate are connected together through locknuts and hexagon head bolts; the upper surface of the lower connecting plate is provided with a cushion block, and the cushion block is provided with universal wheels for preventing the target-shooting robot from being bumpy and damaged.

The technical scheme of the invention is further improved as follows: two sides of the end part of the lower connecting plate face downwards to be provided with side connecting plates extending out of the track, a quick lock catch is arranged between each side connecting plate and the driving device and between each side connecting plate and the driven device, a spanner part of the quick lock catch is connected with the side connecting plates through threaded connectors, and a lock catch part of the quick lock catch is connected with the two driving side connecting plates of the driving device and the two driven side connecting plates of the driven device through the threaded connectors; the two driving side connecting plates are fixedly connected through the driving side screw rod connecting piece, and the two driven side connecting plates are fixedly connected through the driven side screw rod connecting piece.

The technical scheme of the invention is further improved as follows: the driving device comprises a servo motor, and the end part of the servo motor facing the driven device is connected with a matched speed reducer through a threaded connecting piece; the output shaft of the speed reducer is connected with the driving wheel through a flat key; the speed reducer is connected with a speed reducer support at the upper part through a threaded connecting piece, an upper supporting plate is connected above the speed reducer support through a threaded connecting piece, the upper supporting plate is in an inverted U shape and clamps two driving side connecting plates, and the upper supporting plate and the two driving side connecting plates are fixedly connected through a long bolt; a first lateral guide wheel is arranged at a position between the two driving side connecting plates and close to the track, the inner part of a cavity of the first lateral guide wheel is connected with a first lateral guide wheel connecting block through a threaded connecting piece, two side surfaces of the first lateral guide wheel connecting block are provided with threaded holes, and the threaded connecting piece is used for connecting the driving side connecting plates at two sides; and the bottoms of the two driving side connecting plates are connected with a hinge connecting plate through a threaded connecting piece, and the hinge connecting plate is used for being connected with a hinge.

The technical scheme of the invention is further improved as follows: a shaft is arranged at the position, corresponding to the output shaft of the speed reducer, of the two driven side connecting plates, the end part, close to the driven wheel, of the shaft is of a stepped structure, the driven wheel is fixed at the stepped structure of the shaft through an elastic retainer ring, and a bearing is installed in the driven wheel; the end part of the shaft far away from the driven wheel penetrates through a shaft connecting block, two side faces of the shaft connecting block are respectively provided with a threaded hole, the shaft connecting block is connected with a driven side connecting plate through a threaded connecting piece, the middle of the shaft connecting block is also provided with a unthreaded hole in the vertical direction, and a connecting shaft is reinforced and fixed through the threaded connecting piece; a second lateral guide wheel is arranged at the same position of the two driven lateral connecting plates at the position corresponding to the first lateral guide wheel, the cavity of the second lateral guide wheel is connected with a lateral second guide wheel connecting block through a threaded connecting piece, two lateral surfaces of the second lateral guide wheel connecting block are provided with threaded holes, and the driven lateral connecting plates at two sides are connected through the threaded connecting piece; the hinge connecting blocks are connected between the bottoms of the two driven side connecting plates through threaded connecting pieces and are used for being connected with the hinge.

The technical scheme of the invention is further improved as follows: the target surface is provided with a laser receiving sensor for receiving the weapon transmitting signal.

Due to the adoption of the technical scheme, the invention has the following technical effects:

1. the requirement of soldiers on training to shoot outdoor high-altitude moving targets can be met;

2. the driving device and the driven device are connected with the lower connecting plate through the quick lock catch, so that the driving device and the driven device can be conveniently turned over when being installed on the rail, and the connection is stable when the driving device and the driven device are locked;

3. the target practice robot is provided with lateral guide wheels at two sides of a track, and when the robot enters a curve from a straight road and moves on the curve, the robot can ensure to turn stably under the guiding action of the lateral guide wheels; the target practice robot can be adjusted to adapt to curves with different radiuses by changing the distance between the lateral guide wheel and the side surface of the track;

4. the lower connecting plate is provided with universal wheels, and the distance between the universal wheels and the lower side of the track can be adjusted; when the robot jolts under external forces such as strong wind force, the universal wheels can limit the jolt of the robot, protect the robot from being stuck and the like, and ensure the stable motion of the robot; the universal wheel can adjust the distance between universal wheel and the track downside in a flexible way through the height of adjustment cushion.

Drawings

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

FIG. 2 is an isometric view of the present invention;

FIG. 3 is a left side view of the present invention;

FIG. 4 is a front view of the present invention;

FIG. 5 is an isometric view of the drive of the present invention;

FIG. 6 is a front cross-sectional view of the drive of the present invention;

FIG. 7 is an isometric view of a driven device of the present invention;

FIG. 8 is a front cross-sectional view of the slave of the present invention;

FIG. 9 is an isometric view of the steering device of the present invention;

fig. 10 is a front sectional view of the steering apparatus of the present invention.

The device comprises a rail 1, a track 2, a driving device 3, a quick lock catch 4, a target surface 5, a target surface fixing frame 6, a battery bottom plate 7, a battery 8, a battery fixing frame 9, a steering device 10, a driven device 11, a universal wheel 12, a cushion block 13, a battery side connecting plate 14, a hinge 15 and a supporting column; 1001. the driven wheel, 1002, a driven side connecting plate, 1003, a hinge connecting block, 1004, a driven side screw rod connecting piece, 1005, a shaft connecting block, 1006, a shaft, 1007, a elastic check ring, 1008, a second side guide wheel, 1009 and a second side guide wheel connecting block; 2001. a driving wheel 2002, a driving side connecting plate 2003, a hinge connecting plate 2004, a driving side screw connecting piece 2005, an upper supporting plate 2006, a servo motor 2007, a speed reducer 2008, a speed reducer bracket 2009, a first lateral guide wheel 2010 and a first lateral guide wheel connecting block; 9001. the lower connecting plate 9002, the revolving stage, 9003, the upper connecting plate, 9004, locknut, 9005, hexagon head bolt.

Detailed Description

The invention is described in further detail below with reference to the following figures and specific embodiments:

the invention discloses an outdoor high-altitude target practice robot, which integrally comprises an outdoor high-altitude annular track 1 supported by six support columns 15 and a target practice robot, wherein the support columns 15 are bent into an L-shaped cylinder, rib plates are fixedly connected at the bent parts of the support columns 15, a base which is convenient to fix and stabilize is installed at the bottom of each support column 15, the six support columns 15 are uniformly and symmetrically arranged at the four corners and the middle of the track 1 at intervals, and the six support columns 15 penetrate through the track 1 through screw rod connecting pieces to be screwed and fixed; the target robot is suspended on the track 1, and the target robot can perform circular motion on the track 1 at different speeds, and the structure of the target robot is described in detail below.

Referring to fig. 2, 3 and 4, the parts of the target practice robot suspended on the track 1 are respectively arranged in a linear array along the track direction by a driving device 2 and a driven device 10, the front and rear structures are completely consistent, the driving device 2 and the driven device 10 are symmetrically arranged about the middle plane of the track 1, and the driving device 2 and the driven device 10 are connected with a steering device 9 through hinges 14.

As shown in fig. 9 and 10, the steering device 9 includes two lower connecting plates 9001 arranged along the radial direction of the track 1, the two lower connecting plates 9001 correspond to the two sets of driving devices 2 and driven devices 10, respectively, the lower connecting plates 9001 are rectangular plate-shaped, and side connecting plates extending downward are fixedly mounted on both sides of the end portion of the lower connecting plates 9001; the steering device 9 further comprises an upper connecting plate 9003 which is arranged along the axial direction of the track 1, the upper connecting plate 9003 and the lower connecting plate 9001 realize relative rotation through arranging a rotary table 9002, and meanwhile, the lower connecting plate 9001, the rotary table 9002 and the upper connecting plate 9003 are connected together through a locknut 9004 and a hexagonal bolt 9005, so that a proper gap is reserved between the locknut 9004 and the upper connecting plate 9003 when the locknut 9004 cannot be screwed tightly with the upper connecting plate 9003; the upper connecting plate 9003 generates pressure on the rotating platform 9002 through lower parts such as a battery fixing frame 8 and the like connected through a threaded connecting piece, and the hexagon head bolt 9005 and the locknut 9004 are used for ensuring that the rotating platform 9002 cannot be damaged due to too large tensile force and maintaining the working stability of the steering device; two sides of the upper surface of the lower connecting plate 9001, which are symmetrical about the center, are respectively provided with a cushion block 12 made of nylon, and universal wheels 11 are arranged on the cushion blocks 12; the cushion block 12, the universal wheel 11 and the lower connecting plate 9001 are fixedly connected through threaded connecting pieces; when the target practice robot jolts under the action of external strong wind and other external forces, the universal wheels 11 prevent the robot from colliding and being damaged, and normal and stable work is guaranteed.

As shown in fig. 2, 9 and 10, the battery holder 8 is a U-shaped plate structure, the bottom of the battery holder 8 is connected to the battery bottom plate 6 through a threaded connector, the battery 7 is placed on the battery bottom plate 6, and the battery side connecting plates 13 are mounted on the two side surfaces of the battery holder 8 and fixed through the threaded connector, so as to protect the battery; the upper part of the battery fixing frame 8 is fixedly connected with an upper connecting plate 9003 through a threaded connecting piece; the upper portion of target surface mount 5 is connected below battery bottom plate 6 through welding or threaded connection spare, passes through threaded connection spare at target surface mount 5 side and connects target surface 4, has the receiver that can accept the laser signal that soldier adopted shooting weapons such as rifle, rocket tube to launch on target surface 4, can take notes soldier's target practice score, conveniently supplies soldier to aim at the shooting training and use.

As shown in fig. 4, 5 and 6, the driving device 2 includes two driving side connecting plates 2002, the two driving side connecting plates 2002 have the same shape and are each an inverted L shape with an opening facing the rail 1, the two driving side connecting plates 2002 are connected and fixed through a driving side screw rod connector 2004, a hinge connecting plate 2003 is connected between the two driving side connecting plates 2002 far away from the bottom of the rail 1 through a threaded connector, the whole driving device 2 is connected with the hinge 14 through the hinge connecting plate 2003, the other side of the hinge 14 is connected with a side connecting plate of the lower connecting plate 9001, and the driving device 2 can realize 90-degree overturning around the rotation axis of the hinge 14 to the outside of the rail 1.

The driving device 2 further includes a 60-series dc servo motor 2006 installed between two driving side connection plates 2002 above the rail 1, the servo motor 2006 is connected with a matching decelerator 2007 by a screw connector, the decelerator 2007 is installed at a position facing the driven device 10, an output shaft of the decelerator 2007 is connected with the driving wheel 2001 by a flat key, the decelerator 2007 is connected with an upper decelerator support 2008 by a screw connector, the decelerator support 2008 is connected with an upper support plate 2005 by a screw connector, the upper support plate 2005 is in an inverted U shape to clamp the two driving side connection plates 2002 and fixedly connect the upper support plate 2005 and the two driving side connection plates 2002 by a long bolt, a cavity is opened between the two driving side connection plates 2002 at a position close to the rail 1, a first side guide wheel 2009 is installed in the cavity, the first side guide wheel 2009 is connected with the first side guide wheel connection block 2010 provided inside the cavity by a screw connector, threaded holes are formed in two side faces of the first side guide wheel connecting block 2010, the first side guide wheel 2009 is connected with the driving side connecting plates 2002 on two sides through threaded connecting pieces, and smooth turning can be achieved when the driving device 2 moves on a curve.

With reference to fig. 7 and fig. 8, the driven device 10 includes two driven side connecting plates 1002, the two driven side connecting plates 1002 are the same in shape and are inverted L-shaped with an opening facing the rail 1, the two driven side connecting plates 1002 are connected and fixed through a driven side screw connecting piece 1004, the two driven side connecting plates 1002 are far away from the bottom of the rail 1 and are connected with a hinge connecting block 1003 through a threaded connecting piece, the driven device 10 is connected with a hinge 14 through the hinge connecting block 1003, the other side of the hinge 14 is connected with a side connecting plate of a lower connecting plate 9001, and the driven device 10 can realize 90-degree overturning around the rotation axis of the hinge 14 to the outside of the rail.

Driven wheels 1001 are arranged at positions, corresponding to the driving wheel 2001, of the two driven side connecting plates 1002, bearings are contained in the driven wheels 1001 to be sleeved on the shafts 1006, the shafts 1006 are arranged in a mode of deviating from the driving wheel 2001 along the normal direction of the circle center of the driven wheels 1001, and the driven wheels 1001 are fixed with the shafts 1006 through the stepped structures at the end portions of the shafts 1006 and the spring retaining rings 1007; the end of the shaft 1006 far from the driven wheel 1001 is connected and fixed with the driven side connecting plates 1002 at two sides by screws through threaded holes at the side surface as shown in fig. 6, wherein a shaft connecting block 1005 far from the driven wheel 1001 is provided with a unthreaded hole with the same size as the shaft 1006 and the same installation position in the vertical direction, and the two are fixed through a threaded connector in the vertical direction; the driven side connecting plates 1002 on the two sides are connected through a screw connecting piece 1004; the second side guide wheel 1008 and the side guide wheel connecting block 1009 are fixed through a threaded connection piece; two side surfaces of the lateral guide wheel connecting block 1009 are provided with threaded holes and are respectively fixed with the driven side connecting plates 1002 at two sides in a screw connection mode, so that the driven device 10 can smoothly turn when moving on a curve; two side surfaces of the hinge connecting block 1003 are also provided with threaded holes and are respectively connected with the driven side connecting plates 1002 at the two side surfaces through threaded connecting pieces.

The driving side connecting plate 2002 and the driven side connecting plate 1002 are connected with the side connecting plate of the lower connecting plate 9001 through the quick lock catch 3, the lower wrench part of the quick lock catch 3 is connected with the side connecting plate of the lower connecting plate 9001 through a threaded connection piece, the upper lock catch part of the quick lock catch 3 is connected with the driving side connecting plate 2002 and the driven side connecting plate 1002 through a threaded connection piece, when a target shooting robot needs to be installed, the quick lock catch 3 is loosened firstly, the driving device 2 and the driven device 10 are turned over, the driving wheel 2001 is enabled, the driven wheel 1001 is in surface contact with the upper surface of a track, and the quick lock catch 3 is fastened again at last, so that the driving device 2 and the driven device 10 are stably.

The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape, principle and the like of the invention are covered by the protection scope of the invention.