阅读说明：本技术 一种可自编程多轴打靶机器人 (Self-programming multi-axis target practice robot ) 是由 马晨晨 于 2019-09-11 设计创作，主要内容包括：本发明公开了一种可自编程多轴打靶机器人,包括底盘,两个前轮无刷轮毂电机和一个或两个后轮减震万向轮,底盘上方设置靶子座,靶子座上设置三出轴；所述底盘下方设置控制箱,包括电池、控制器、电机和减速器,控制器通过电机和减速器控制三出轴的转动,控制器控制前轮无刷轮毂电机的行进；还包括遥控器,所述遥控器包括触摸屏,可进行自编程设置三出轴转动的角度、速度和时间,所述遥控器无线遥控控制器。本发明采用三出轴设计,可一机多用降低成本。本发明机电一体化设计,便于运输使用维护保养。本发明可通过遥控对产品的位置进行移动控制,对三出轴转动的角度、速度和时间可进行自主编程控制。(The invention discloses a self-programming multi-shaft target practice robot, which comprises a chassis, two front wheel brushless hub motors and one or two rear wheel damping universal wheels, wherein a target seat is arranged above the chassis, and three output shafts are arranged on the target seat; a control box is arranged below the chassis and comprises a battery, a controller, a motor and a speed reducer, the controller controls the rotation of the three output shafts through the motor and the speed reducer, and the controller controls the advance of the front wheel brushless hub motor; the remote controller comprises a touch screen, can set the rotating angle, speed and time of the three output shafts in a self-programming mode, and is a wireless remote controller. The invention adopts a three-output shaft design, thereby being multipurpose and reducing the cost. The invention is designed in an electromechanical integration way, and is convenient to transport, use, maintain and maintain. The invention can move and control the position of the product through remote control, and can independently program and control the rotating angle, speed and time of the three output shafts.)

1. A self-programming multi-axis target practice robot is characterized by comprising a chassis (1), wherein a target seat (7) is arranged above the chassis (1), and three output shafts are arranged on the target seat (7) and comprise an upper output shaft (5) and a left output shaft and a right output shaft (8);

the upper output shaft (5) can be continuously rotated and used within the range of 0-360 degrees, a first supporting rod (9) is arranged, the first supporting rod (9) is of a U-shaped structure and comprises a cross beam (9-1) and supporting rods (9-2) positioned at two ends of the cross beam, and the supporting rods (9-2) are used for fixing target pieces; the first supporting rod (9) is detachably connected with the upper output shaft (5);

the left output shaft and the right output shaft (8) can be continuously rotated for use within the range of 0-180 degrees, and a second support rod (10) is arranged, wherein the second support rod (10) is used for fixing target pieces; the second supporting rod (10) is detachably connected with the left output shaft and the right output shaft (10);

the chassis (1) below sets up control box (3), control box (3) include battery, controller, motor and reduction gear, the rotation of three play axles is passed through to the controller motor and reduction gear control, the battery is controller, motor, reduction gear power supply.

2. The self-programmable multi-axis target practice robot according to claim 1, further comprising two front wheels and one rear wheel, the front wheels being brushless hub motors (4) and the rear wheels being shock absorbing universal wheels (2), the controller controlling the travel of the front wheel brushless hub motors, the batteries powering the brushless hub motors.

3. The self-programmable multi-axis target practice robot according to claim 1, further comprising two front wheels and two rear wheels, the front wheels being brushless hub motors (4) and the rear wheels being shock absorbing universal wheels (2), the controller controlling the travel of the front wheel brushless hub motors, the batteries powering the brushless hub motors.

4. The self-programmable multi-axis target practice robot according to claim 1, further comprising a remote controller (6), wherein the remote controller (6) comprises a touch screen, wherein self-programming setting of the angle, speed and time of rotation of the three axes is possible, and wherein the remote controller (6) is a wireless remote controller.

5. The self-programmable multi-axis targeting robot according to claim 1, characterized in that the first support rod (9) is detachably connected to the upper output shaft (5) at its beam midpoint by means of bolts.

6. The self-programmable multi-axis target practice robot according to claim 1, wherein the lower end of the second support rod (10) is detachably connected to the left and right output shafts (8) by bolts.

7. Self-programmable multi-axis targeting robot according to claim 1, characterized in that the support bar (9-2) is detachably connected with the target plate by means of bolts.

8. Self-programmable multi-axis targeting robot according to claim 1, characterized in that the second support bar (10) is detachably connected with the target plate by means of bolts.

9. The self-programmable multi-axis targeting robot of claim 4 further comprising an external night light, wherein the duration of illumination is self-programmable.

Technical Field

The invention relates to a target practice robot, in particular to a self-programming multi-axis target practice robot.

Background

At the in-process of shooting exercise, the shooting of shooing need be carried out frequently, and current target major classification has fixed target and intelligent target, and fixed target is fixed a certain place with the target, is a fixed target, can only fix a position the shooting exercise, and the intelligent target adds below the target and establishes an intelligent vehicle, drives the removal of target through the removal of this intelligent vehicle, and then realizes the removal of target position to reach the purpose of removing the shooting exercise.

The existing intelligent target intelligent vehicle is arranged in a mode that a fixed track is firstly paved on the field, then the intelligent vehicle is installed on the track, and the intelligent vehicle can move back and forth along the track in the target shooting process so as to realize the target moving effect. Meanwhile, if sundries exist on the track, the situation that the intelligent trolley collides with the sundries in the moving process can occur, and the requirement on the use site is high.

On the other hand, the intelligent trolley of the existing intelligent target can only be provided with one target sheet and cannot be used for multiple purposes, the target sheet is fixed in rotation angle, few in action, not capable of being rotated at multiple angles, difficult in programming action and free of timing.

Disclosure of Invention

The purpose of the invention is as follows: aiming at the problems, the invention provides a self-programming multi-axis target practice robot, which is provided with three output shafts, can realize multiple purposes, is self-programmed through a touch screen of a remote controller, and adjusts the rotating angle, speed and time of the three output shafts.

The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: a self-programming multi-shaft target practice robot comprises a chassis, wherein a target seat is arranged above the chassis, and three output shafts are arranged on the target seat and comprise an upper output shaft and a left output shaft and a right output shaft; the upper output shaft can be continuously rotated and used within the range of 0-360 degrees, and is provided with a first support rod, the first support rod is of a U-shaped structure and comprises a cross beam and support rods positioned at two ends of the cross beam, and the support rods are used for fixing target pieces; the first supporting rod is detachably connected with the upper output shaft; the left output shaft and the right output shaft can be continuously rotated for use within the range of 0-180 degrees, and a second supporting rod is arranged and used for fixing the target piece; the second supporting rod is detachably connected with the left output shaft and the right output shaft; the chassis below sets up the control box, the control box includes battery, controller, motor and reduction gear, the rotation of three play axles is controlled through motor and reduction gear to the controller, the battery is the power supply of controller, motor, reduction gear.

The vehicle-mounted intelligent shock absorption device comprises a front wheel, a rear wheel, a controller and a battery, wherein the front wheel is a brushless hub motor, the rear wheel is a shock absorption universal wheel, the controller controls the front wheel to move forwards, and the battery supplies power for the brushless hub motor.

The vehicle-mounted intelligent shock absorption device is characterized by further comprising two front wheels and two rear wheels, the front wheels are brushless hub motors, the rear wheels are shock absorption universal wheels, the controller controls the front wheel brushless hub motors to advance, and the batteries supply power to the brushless hub motors.

The remote controller comprises a touch screen, can set the rotation angle, speed and time of the three output shafts in a self-programming mode, and is a wireless remote controller.

Furthermore, the middle point of the cross beam of the first support rod is detachably connected with the upper output shaft through a bolt, and the lower end of the second support rod is detachably connected with the left output shaft and the right output shaft through bolts.

Furthermore, the supporting rod is detachably connected with the target piece through a bolt, and the second supporting rod is detachably connected with the target piece through a bolt.

Furthermore, the LED lamp also comprises an external night lighting device, and the lighting time can be set in a self-programming mode.

Has the advantages that: the invention adopts a three-output shaft design, so that the purchasing quantity of users can be reduced by one machine for multiple purposes, and the cost is reduced; the invention has the advantages of mechanical and electrical integration design, integration of the battery, the reducer, the motor and the controller into a whole space, and convenient use, transportation, maintenance and repair.

The invention can control the position of the product by remote control, and the moving speed is adjustable; the rotation angle, the rotation speed and the residence time of the carrier can be automatically programmed and controlled; the control system has powerful functions, high integration level, high precision, good stability and strong anti-interference capability; the reserved port is opened, and tracking and obstacle avoidance functions can be added according to the needs of the user.

Drawings

FIG. 1 is a schematic diagram of a self-programmable multi-axis target practice robot;

FIG. 2 is a schematic view of the use of the upper output shaft;

FIG. 3 is a schematic view of the use of the left and right output shafts;

FIG. 4 is a schematic view of a three-output shaft steering control;

fig. 5 is a self-programming operational flow of the targeting robot.

Detailed Description

The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.

As shown in FIG. 1, the self-programmable multi-axis target practice robot of the present invention comprises a chassis 1, two front wheels, one rear wheel or two rear wheels, which are selected according to actual load requirements. The front wheel is brushless in-wheel motor 4, and two front wheels are responsible for marcing to turn to, and the rear wheel is shock attenuation universal wheel 2, cushions the shock attenuation to the automobile body. Adopt the shock attenuation design, reduce chassis height, remove the track design, guarantee simultaneously can wade the degree of depth 10 centimetres, through damping device, to the requirement greatly reduced on ground, accessible grit, abrupt slope, muddy bad highway section such as. The target seat 7 is arranged above the chassis 1, and the three output shafts are arranged on the target seat 7, so that the multifunctional single-machine set can be used for multiple purposes, the purchase quantity of users is reduced, and the use cost is reduced.

The three output shafts comprise an upper output shaft 5 and a left output shaft and a right output shaft 8. As shown in figure 2, the upper output shaft 5 can be continuously rotated for use within the range of 0-360 degrees, and is provided with a first supporting rod 9, the first supporting rod 9 is of a U-shaped structure and comprises a cross beam 9-1 and supporting rods 9-2 positioned at two ends of the cross beam, the supporting rods 9-2 are used for fixing target pieces, and the supporting rods 9-2 are detachably connected with the target pieces through bolts. The first supporting rod 9 is detachably connected with the upper output shaft 5; the middle point of the cross beam of the first support rod 9 is detachably connected with the upper output shaft 5 through a bolt.

As shown in fig. 3, the left output shaft 8 and the right output shaft 8 can be continuously rotated for use within the interval of 0-180 degrees, and a second support rod 10 is arranged, wherein the second support rod 10 is used for fixing a target sheet; the second support rod 10 is detachably connected with the left output shaft and the right output shaft 10, and the second support rod 10 is detachably connected with the target piece through a bolt. The lower end of the second support bar 10 is detachably connected with the left and right output shafts 8 through bolts.

A control box 3 is arranged below the chassis 1, and the control box 3 comprises a battery, a controller, a motor and a speed reducer. The electromechanical integration design, the current collecting battery, the speed reducer, the motor and the controller are integrated into a space, and the use, the transportation, the maintenance and the maintenance are convenient. The controller controls the rotation of the three output shafts through the motor and the speed reducer, and controls the rotation of the three output shafts through the output shaft steering gear, as shown in fig. 4, a corner device is added on the mechanical structure, and the rotation is increased from a traditional single output shaft to the three output shafts. The positive and negative tolerance is improved on mechanical parts, and the power of the power device is increased. Meanwhile, the controller controls the front wheel brushless hub motor to move forward, and the battery supplies power to the controller, the motor, the speed reducer and the brushless hub motor.

The remote controller 6 is a wireless remote controller, and the position of the product is controlled by remote control, so that the moving speed is adjustable. The remote controller 6 comprises a touch screen, can set the rotating angle, speed and time of the three output shafts through self-programming, and achieves multi-angle multi-action rotation, swinging and hiding. The control system has the advantages of powerful functions, high integration level, high precision, good stability and strong anti-interference capability, a reserved port is open, and tracking and obstacle avoidance functions can be added according to the needs of users.

The invention can be added with an external night lighting device port, and the lighting time can be independently programmed and controlled. The invention can thicken the whole material of the self-programming multi-axis target practice robot, and the collision under normal operation has no influence on the product. The whole structure is waterproof, and the waterproof. The load of the movable carrier can reach 100KG, and the axle-out moment can reach 50 N.M.

But self-programming multiaxis robot of shooing is the product that traditional machinery combined together with electronic technology, and to the inconvenient phenomenon of traditional product operation, price cost height, technical upgrading research and development is carried out, adopts stable compatible higher EMWIN (an embedded system) as development platform, designs more intelligent, convenient, understandable operation interface.

The user can add plug-in components according to self needs, such as: the camera, various detecting instruments, shooting targets and the like are widely used in environments where people are inconvenient or dangerous, and the safety of personnel is greatly improved.

After the user installs the plug-in component as required, the operation is carried out as shown in fig. 5, and the operation flow is as follows:

(1) through eight to free remote control removal, the differential turns to the very big structural part who has reduced traditional directive wheel of technique, reduces the maintenance cost to and turn to the radius, improved the flexibility.

(2) Performing programming operation by touching the visual screen;

1. communication: the channels are distinguished based on 433 million communication channel technology, and the problem of mutual interference is prevented. The communication power and the frequency division networking are enhanced, and the communication distance reaches 300 meters. And simultaneously naming the devices one by one for adding or deleting the devices.

2. Adjusting a storage zero point: the angle is accurately controlled by the pulse signal of the servo motor, and the initial angle is adjusted to a required position and recorded.

3. Writing a program: the program commands are time, speed and angle in sequence, the logic commands and the angle of rotation at several gears after stopping for several seconds after starting by pressing a start key, and the program actions are analogized in sequence.

4. And (3) running a program: after the program is written, in order to prevent misoperation, the return-to-zero key is pressed to return the angle of the equipment to zero, then the start key is pressed to run the program, and the timing function works simultaneously.

Through practical use, the invention has the advantages of convenient use, stable operation and accurate control. The operation can be realized through simple training, and the difficulty that the traditional product needs to be debugged by professional personnel of a manufacturer is solved.