阅读说明：本技术 一种可进行多规格发射的发射装置及其控制方法 (Transmitting device capable of transmitting in multiple specifications and control method thereof ) 是由 庄弘炜 暴洪涛 赵法栋 张燕丽 于 2021-09-10 设计创作，主要内容包括：本发明涉及一种可进行多规格发射的发射装置及其控制方法,所述的发射装置,包括：发射平台,用于承载待发射物；第一转动驱动机构、第二转动驱动机构,分别设置在发射平台的两侧,通过控制第一转动驱动机构和第二转动驱动机构反向运转,将发射平台上的待发射物发射；以及安装导轨,所述的第一转动驱动机构、第二转动驱动机构分别可调节位置的安装在安装导轨上；通过分别调节第一转动驱动机构、第二转动驱动机构在安装导轨上的位置,改变两者之间的间距以适应不同尺寸规格的待发射物。本发明的发射装置可以发射多种尺寸规格型号的待发射物,且发射速度、发射角度可调,可根据发射的目标位置要求进行调整,以获取最佳的发射效果。(The invention relates to a transmitting device capable of transmitting in multiple specifications and a control method thereof, wherein the transmitting device comprises: the launching platform is used for bearing an object to be launched; the first rotary driving mechanism and the second rotary driving mechanism are respectively arranged at two sides of the launching platform, and the object to be launched on the launching platform is launched by controlling the first rotary driving mechanism and the second rotary driving mechanism to reversely rotate; the first rotary driving mechanism and the second rotary driving mechanism are respectively arranged on the mounting guide rail in an adjustable position; the positions of the first rotary driving mechanism and the second rotary driving mechanism on the installation guide rail are respectively adjusted, and the distance between the first rotary driving mechanism and the second rotary driving mechanism is changed to adapt to the objects to be launched with different sizes and specifications. The launching device can launch objects to be launched with various sizes and models, has adjustable launching speed and launching angle, and can be adjusted according to the requirement of a launching target position so as to obtain the optimal launching effect.)

1. A transmitting device capable of multi-specification transmission, comprising:

the launching platform is used for bearing an object to be launched;

the first rotary driving mechanism and the second rotary driving mechanism are respectively arranged at two sides of the launching platform, and the object to be launched on the launching platform is launched by controlling the first rotary driving mechanism and the second rotary driving mechanism to reversely rotate;

the first rotary driving mechanism and the second rotary driving mechanism are respectively arranged on the mounting guide rail in an adjustable position;

the positions of the first rotary driving mechanism and the second rotary driving mechanism on the installation guide rail are respectively adjusted, and the distance between the first rotary driving mechanism and the second rotary driving mechanism is changed to adapt to the objects to be launched with different sizes and specifications.

2. The launching device capable of multi-specification launching as claimed in claim 1, wherein the mounting guide rail has a mounting adjustment portion extending for a certain length in a direction perpendicular to a launching path of the object to be launched on the launching platform, and the first rotary driving mechanism and the second rotary driving mechanism are slidably disposed on the mounting adjustment portion respectively;

the distance between the first rotary driving mechanism and the second rotary driving mechanism is changed by adjusting the positions of the first rotary driving mechanism and the second rotary driving mechanism on the installation adjusting part of the installation guide rail in a sliding way.

3. The launching device capable of multi-specification launching as claimed in claim 2, wherein the installation adjusting part is a slide way arranged on the installation guide rail;

the first rotary driving mechanism comprises a first driving motor, the second rotary driving mechanism comprises a second driving motor, the first driving motor is slidably mounted on the slideway through a first adjusting mechanism, and the second driving motor is slidably mounted on the slideway through a second adjusting mechanism;

the first adjusting mechanism comprises a first adjusting motor, a first adjusting gear and a first adjusting rack, the first adjusting motor is fixed on the mounting guide rail, the first adjusting gear is mounted on a motor shaft of the first adjusting motor, and the first driving motor is fixedly connected with the first adjusting rack;

the second adjusting mechanism comprises a second adjusting motor, a second adjusting gear and a second adjusting rack, the second adjusting motor is fixed on the mounting guide rail, the second adjusting gear is mounted on a motor shaft of the second adjusting motor, and the second driving motor is fixedly connected with the second adjusting rack;

optionally, the first adjusting mechanism comprises a first fixed shaft, one end of the first fixed shaft is fixedly connected with the first driving motor, and the other end of the first fixed shaft penetrates through the slideway and is fixedly connected with the first adjusting rack;

the second adjusting mechanism comprises a second fixing shaft, one end of the second fixing shaft is fixedly connected with the second driving motor, and the other end of the second fixing shaft penetrates through the slide way to be fixedly connected with the second adjusting rack.

4. The launching device capable of multi-specification launching as claimed in any one of claims 1 to 3, wherein a first guide mechanism and a second guide mechanism are respectively arranged on the launching platform at positions upstream of the first rotary driving mechanism and the second rotary driving mechanism, the first guide mechanism comprises a first guide plate, the second guide mechanism comprises a second guide plate, and the first guide plate and the second guide plate are symmetrically arranged on two sides of the launching platform;

the distance between the first guide plate and the second guide plate is adjusted to be slightly larger than the width of the object to be launched, so that the object to be launched is guided to enter between the first rotary driving mechanism and the second rotary driving mechanism;

optionally, the first guide mechanism includes a first guide motor for driving the first guide plate to move, the second guide mechanism includes a second guide motor for driving the second guide plate to move, the first guide motor is linked with the first adjusting motor, the second guide motor is linked with the second adjusting motor, and when the first adjusting motor and the second adjusting motor adjust the distance between the first rotation driving mechanism and the second rotation driving mechanism, the first guide motor and the second guide motor synchronously move to adjust the distance between the first guide plate and the second guide plate;

or, the first guide plate is connected with the first rotation driving mechanism through a first linkage piece, the second guide plate is connected with the second rotation driving mechanism through a second linkage piece, and when the first adjusting motor and the second adjusting motor adjust the distance between the first rotation driving mechanism and the second rotation driving mechanism, the first linkage piece and the second linkage piece are used for transmission and synchronous adjustment of the distance between the first guide plate and the second guide plate.

5. The launching device capable of multi-specification launching as claimed in any one of claims 1 to 4, wherein a temporary storage area for storing the objects to be launched is arranged on the launching platform, the launching device comprises a bullet pushing mechanism arranged on one side of the temporary storage area, which is far away from the first rotary driving mechanism and the second rotary driving mechanism, and the bullet pushing mechanism is used for pushing the objects to be launched stored in the temporary storage area towards the first rotary driving mechanism and the second rotary driving mechanism;

optionally, a first guide plate and a second guide plate are symmetrically arranged on two sides of the ejection end of the object to be shot in the temporary storage area.

6. The launching device capable of multi-specification launching as claimed in claim 5, wherein the pushing mechanism comprises a pushing plate, a compression spring, a traction motor and a traction rope, one end of the compression spring is connected to the pushing plate, and the other end of the compression spring is stopped against the launching platform; the traction motor is fixed on the launching platform, the output end of the traction motor is connected with the traction rope, and the other end of the traction rope is connected to the push plate;

traction motor pulls and retrieves the haulage rope and drives the push pedal and keep away from the buffer motion, compresses compression spring, traction motor release haulage rope, and compression spring resumes deformation and promotes the push pedal and move towards the buffer, will wait that the projectile releases.

7. The launching device capable of multi-specification launching as claimed in any one of claims 1 to 6, characterized by further comprising a storage clip for storing the object to be launched and a pushing and ejecting mechanism for pushing out the object to be launched in the storage clip;

the storage clamp comprises a cabin body, an elastic body and a bearing body, wherein an open cavity for storing a plurality of objects to be launched is arranged in the cabin body, one end of the elastic body is abutted against the closed end of the open cavity, the other end of the elastic body extends towards the open end of the open cavity and is connected with the bearing body, and the objects to be launched are supported on the bearing body;

the storage clamp also comprises a blocking body arranged above the opening of the bin body, the blocking body and the opening of the bin body are arranged at intervals, and the height of the interval is greater than that of the object to be launched; the width of the blocking body is smaller than the width of the opening of the bin body.

8. A method of controlling the transmitting apparatus according to any one of claims 1 to 7, comprising:

receiving parameter information of an object to be transmitted;

controlling and adjusting the positions of the first rotary driving mechanism and the second rotary driving mechanism on the installation guide rail according to the parameter information, and changing the distance between the first rotary driving mechanism and the second rotary driving mechanism;

collecting the position information of the first rotary driving mechanism and the second rotary driving mechanism on the installation guide rail, and judging whether the distance requirement of the object to be launched is met;

if the position of the first rotary driving mechanism and the position of the second rotary driving mechanism on the installation guide rail are not adjusted, the emission distance is adjusted.

9. The method for controlling the transmitting apparatus according to claim 8, comprising:

receiving the transmitted target information;

controlling and adjusting the inclination angle of a supporting platform of the transmitting device according to the target information;

acquiring inclination angle information of the supporting platform, and judging whether the angle range of reaching the target position is met;

if the angle of the supporting platform of the launching device is not adjusted, the angle of the supporting platform of the launching device is continuously controlled and adjusted;

and/or, receiving the transmitted target density information; controlling and adjusting the rotating speed of the first rotating driving mechanism and the second rotating driving mechanism according to the target information;

collecting the rotation speed information of the first rotation driving mechanism and the second rotation driving mechanism, and judging whether the rotation speed range for realizing the emission effect is met or not;

if the rotation speed of the first rotary driving mechanism is not the same as that of the second rotary driving mechanism, the rotation speed of the first rotary driving mechanism and the rotation speed of the second rotary driving mechanism are continuously controlled and adjusted.

10. The method for controlling a transmitting apparatus according to claim 9, further comprising:

when the distance adjustment, the angle adjustment and the rotating speed adjustment of the launching meet the requirements, controlling the push-eject mechanism to act to push the object to be launched out to a position between the first rotary driving mechanism and the second rotary driving mechanism for launching;

the control of the ejection mechanism to push the object to be launched comprises the following steps:

controlling a traction motor to act to pull and recover a traction rope, and pulling a push plate to extrude a compression spring by the traction rope;

when the push plate is detected to be in place, controlling the traction motor to stop acting;

judging whether the temporary storage area or the storage clamp is stored with objects to be launched;

if the pushing plate is not in the working state, the traction motor is kept in the current working state.

Technical Field

The invention relates to the technical field of transmitting equipment, in particular to a transmitting device capable of transmitting in multiple specifications and a control method thereof.

Background

The current social economy is in a rapid development stage, and the economy is rapidly and stably increased and is not in a stable social environment. When the countries in the world face the occasional problems of riot, illegal meeting, parade and the like, people need to be quickly calmed and the life safety of people needs to be guaranteed, so that the social order is stabilized as soon as possible. Therefore, non-lethal weapon is a key, which is not only harmless to people, but also can rapidly disperse people.

The non-lethal percussion weapon launches non-lethal ammunition, which can also be called anti-riot ammunition, and is a general term for various ammunitions; can drive the riots in riots and can make the target person lose the mobility; or police can be used to deal with lawbreakers when rescuing hostage; in general, it is an ammunition that can defeat a target, but is not sufficient to cause serious injury or death. Non-lethal ammunition can cause serious injury or death of the target character if not used properly, so it is also called "low lethal ammunition". Such ammunition must be fired using a manufacturer-specified firing device, and the shooter must be properly trained and used in compliance with the manufacturer's rules of use.

At present, most of non-lethal ammunition depends on a gun emitter, the explosion prevention ammunition with fixed specification is emitted by the gun emitter tube, the crowd is dispersed by smoke or noise in the crowd gathering, but the gun emitter only can aim at one type of ammunition, and the matching range is narrow. And because the launched ammunition is ignited by the ejector pin by utilizing the propelling ammunition carried by the launched ammunition, the ammunition is ejected out by means of the instant explosion pressure. Such ammunition is often fixed and fast. Once the anti-riot bomb hits the human body, the high-speed ammunition can cause human body injury and even death.

Therefore, the specification of the ammunition to be launched by the existing anti-riot ammunition launcher is fixed, the launching speed is fixed, and the launching angle needs to be determined by the position of a gun holding mouth of a person, so that the specification of the ammunition to be launched is limited, and the dispersing effect is fixed. Moreover, the anti-riot ammunition is fast and fixed, can greatly cause human body injury in a short distance, and cannot play the effects of not only not injuring people but also dispersing people.

In view of the above, the present invention is particularly proposed.

Disclosure of Invention

In order to solve the technical problems, the invention provides a transmitting device which can transmit objects to be transmitted in various types, has adjustable transmitting speed and adjusts the transmitting angle according to a transmitting target, so that the transmitting device can select different objects to be transmitted according to the field condition and adjust different speeds and distances to realize the transmitting purpose, and the specific technical scheme is as follows:

a transmitting device capable of multi-format transmission, comprising:

the launching platform is used for bearing an object to be launched;

the first rotary driving mechanism and the second rotary driving mechanism are respectively arranged at two sides of the launching platform, and the object to be launched on the launching platform is launched by controlling the first rotary driving mechanism and the second rotary driving mechanism to reversely rotate;

the first rotary driving mechanism and the second rotary driving mechanism are respectively arranged on the mounting guide rail in an adjustable position;

the positions of the first rotary driving mechanism and the second rotary driving mechanism on the installation guide rail are respectively adjusted, and the distance between the first rotary driving mechanism and the second rotary driving mechanism is changed to adapt to the objects to be launched with different sizes and specifications.

As an optional embodiment of the present invention, the installation guide rail has an installation adjusting portion extending for a certain length in a direction perpendicular to a launching path of the object to be launched on the launching platform, and the first rotary driving mechanism and the second rotary driving mechanism are respectively slidably disposed on the installation adjusting portion;

the distance between the first rotary driving mechanism and the second rotary driving mechanism is changed by adjusting the positions of the first rotary driving mechanism and the second rotary driving mechanism on the installation adjusting part of the installation guide rail in a sliding way.

As an optional embodiment of the present invention, the mounting adjustment portion is a slide way provided on the mounting rail;

the first rotary driving mechanism comprises a first driving motor, the second rotary driving mechanism comprises a second driving motor, the first driving motor is slidably mounted on the slideway through a first adjusting mechanism, and the second driving motor is slidably mounted on the slideway through a second adjusting mechanism;

the first adjusting mechanism comprises a first adjusting motor, a first adjusting gear and a first adjusting rack, the first adjusting motor is fixed on the mounting guide rail, the first adjusting gear is mounted on a motor shaft of the first adjusting motor, and the first driving motor is fixedly connected with the first adjusting rack;

the second adjusting mechanism comprises a second adjusting motor, a second adjusting gear and a second adjusting rack, the second adjusting motor is fixed on the mounting guide rail, the second adjusting gear is mounted on a motor shaft of the second adjusting motor, and the second driving motor is fixedly connected with the second adjusting rack;

optionally, the first adjusting mechanism comprises a first fixed shaft, one end of the first fixed shaft is fixedly connected with the first driving motor, and the other end of the first fixed shaft penetrates through the slideway and is fixedly connected with the first adjusting rack;

the second adjusting mechanism comprises a second fixing shaft, one end of the second fixing shaft is fixedly connected with the second driving motor, and the other end of the second fixing shaft penetrates through the slide way to be fixedly connected with the second adjusting rack.

As an optional embodiment of the present invention, a first guide mechanism and a second guide mechanism are respectively disposed on the launch platform at upstream positions of the first rotation driving mechanism and the second rotation driving mechanism, the first guide mechanism includes a first guide plate, the second guide mechanism includes a second guide plate, and the first guide plate and the second guide plate are symmetrically disposed on two sides of the launch platform;

the distance between the first guide plate and the second guide plate is adjusted to be slightly larger than the width of the object to be launched, so that the object to be launched is guided to enter between the first rotary driving mechanism and the second rotary driving mechanism;

optionally, the first guide mechanism includes a first guide motor for driving the first guide plate to move, the second guide mechanism includes a second guide motor for driving the second guide plate to move, the first guide motor is linked with the first adjusting motor, the second guide motor is linked with the second adjusting motor, and when the first adjusting motor and the second adjusting motor adjust the distance between the first rotation driving mechanism and the second rotation driving mechanism, the first guide motor and the second guide motor synchronously move to adjust the distance between the first guide plate and the second guide plate;

or, the first guide plate is connected with the first rotation driving mechanism through a first linkage piece, the second guide plate is connected with the second rotation driving mechanism through a second linkage piece, and when the first adjusting motor and the second adjusting motor adjust the distance between the first rotation driving mechanism and the second rotation driving mechanism, the first linkage piece and the second linkage piece are used for transmission and synchronous adjustment of the distance between the first guide plate and the second guide plate.

As an optional implementation manner of the present invention, a temporary storage area for storing the objects to be launched is disposed on the launching platform, the launching device includes a bullet pushing mechanism disposed at a side of the temporary storage area away from the first rotation driving mechanism and the second rotation driving mechanism, and the bullet pushing mechanism is configured to push the objects to be launched stored in the temporary storage area out towards the first rotation driving mechanism and the second rotation driving mechanism;

optionally, a first guide plate and a second guide plate are symmetrically arranged on two sides of the ejection end of the object to be shot in the temporary storage area.

As an optional embodiment of the invention, the ejection mechanism comprises a push plate, a compression spring, a traction motor and a traction rope, wherein one end of the compression spring is connected to the push plate, and the other end of the compression spring is stopped against the launching platform; the traction motor is fixed on the launching platform, the output end of the traction motor is connected with the traction rope, and the other end of the traction rope is connected to the push plate;

traction motor pulls and retrieves the haulage rope and drives the push pedal and keep away from the buffer motion, compresses compression spring, traction motor release haulage rope, and compression spring resumes deformation and promotes the push pedal and move towards the buffer, will wait that the projectile releases.

As an optional embodiment of the present invention, the launching device capable of performing multi-specification launching further comprises a storage clip for storing objects to be launched and a pushing mechanism for pushing out the objects to be launched in the storage clip;

the storage clamp comprises a cabin body, an elastic body and a bearing body, wherein an open cavity for storing a plurality of objects to be launched is arranged in the cabin body, one end of the elastic body is abutted against the closed end of the open cavity, the other end of the elastic body extends towards the open end of the open cavity and is connected with the bearing body, and the objects to be launched are supported on the bearing body;

the storage clamp also comprises a blocking body arranged above the opening of the bin body, the blocking body and the opening of the bin body are arranged at intervals, and the height of the interval is greater than that of the object to be launched; the width of the blocking body is smaller than the width of the opening of the bin body.

The invention also provides a control method of the transmitting device capable of transmitting in multiple specifications, which comprises the following steps:

receiving parameter information of an object to be transmitted;

controlling and adjusting the positions of the first rotary driving mechanism and the second rotary driving mechanism on the installation guide rail according to the parameter information, and changing the distance between the first rotary driving mechanism and the second rotary driving mechanism;

collecting the position information of the first rotary driving mechanism and the second rotary driving mechanism on the installation guide rail, and judging whether the distance requirement of the object to be launched is met;

if the position of the first rotary driving mechanism and the position of the second rotary driving mechanism on the installation guide rail are not adjusted, the emission distance is adjusted.

As an optional embodiment of the present invention, a method for controlling a transmitting apparatus according to the present invention includes:

receiving the transmitted target information;

controlling and adjusting the inclination angle of a supporting platform of the transmitting device according to the target information;

acquiring inclination angle information of the supporting platform, and judging whether the angle range of reaching the target position is met;

if the angle of the supporting platform of the launching device is not adjusted, the angle of the supporting platform of the launching device is continuously controlled and adjusted;

and/or, receiving the transmitted target density information; controlling and adjusting the rotating speed of the first rotating driving mechanism and the second rotating driving mechanism according to the target information;

collecting the rotation speed information of the first rotation driving mechanism and the second rotation driving mechanism, and judging whether the rotation speed range for realizing the emission effect is met or not;

if the rotation speed of the first rotary driving mechanism is not the same as that of the second rotary driving mechanism, the rotation speed of the first rotary driving mechanism and the rotation speed of the second rotary driving mechanism are continuously controlled and adjusted.

As an optional embodiment of the present invention, the method for controlling a transmitting apparatus according to the present invention further includes:

when the distance adjustment, the angle adjustment and the rotating speed adjustment of the launching meet the requirements, controlling the push-eject mechanism to act to push the object to be launched out to a position between the first rotary driving mechanism and the second rotary driving mechanism for launching;

the control of the ejection mechanism to push the object to be launched comprises the following steps:

controlling a traction motor to act to pull and recover a traction rope, and pulling a push plate to extrude a compression spring by the traction rope;

when the push plate is detected to be in place, controlling the traction motor to stop acting;

judging whether the temporary storage area or the storage clamp is stored with objects to be launched;

if the pushing plate is not in the working state, the traction motor is kept in the current working state.

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

the launching device can launch objects to be launched with various sizes and models, the launching speed and the launching angle are adjustable, and the launching device can be adjusted according to the requirement of a launching target position, so that the proper size and specification of the objects to be launched can be selected according to the actual launching site condition, and the corresponding launching speed and the launching angle are adjusted to obtain the optimal launching effect.

Description of the drawings:

FIG. 1 is a schematic perspective view of a transmitting device of the present invention;

FIG. 2 is a front view of the launching device of the present invention;

FIG. 3 is a cross-sectional view of the transmitting device of the present invention taken along plane A-A of FIG. 2; (ii) a

FIG. 4 is a cross-sectional view of the transmitting device of the present invention taken along the plane B-B in FIG. 2;

FIG. 5 is a schematic view of the gearing of the rack and pinion of the launching device of the present invention; (ii) a

FIG. 6 is a top view of the launching device of the present invention;

FIG. 7 is a rear view of the launching device of the present invention;

FIG. 8 is a schematic perspective view of a transmitting device according to another embodiment of the present invention;

FIG. 9 is a schematic perspective view of a transmitting device according to another embodiment of the present invention;

FIG. 10 is a schematic view of the structure of the ejection mechanism of the launching device of the present invention;

FIG. 11 is a top view of yet another embodiment of a launching device of the present invention;

FIG. 12 is a schematic perspective view of a transmitting device according to another embodiment of the present invention;

FIG. 13 is a perspective view of a storage clip of the launching device of the present invention (in a state of being mounted with a launcher object);

FIG. 14 is a perspective view of a storage clip of the launching device of the present invention (in a state where the object to be launched is not mounted);

FIG. 15 is a top plan view of a storage clip of the launching device of the present invention;

FIG. 16 is a cross-sectional view of the storage clip of the launching device of the present invention taken along the plane C-C in FIG. 15;

FIG. 17 is a first flowchart of a method of controlling a transmitting device of the present invention;

fig. 18 is a second flowchart of a control method of the transmitting apparatus of the present invention.

Reference numbers in the drawings illustrate: 100-first rotary driving mechanism 101-first roller 102-first rotating shaft 103-first driving motor 200-launching platform 201-temporary storage area 300-second rotary driving mechanism 301-second roller 302-second rotating shaft 303-second driving motor 400-object to be launched 501-first supporting column 502-second supporting column 600-installation guide 601-installation adjusting part 700-supporting platform 800-angle adjusting motor 901-second fixed shaft 902-second adjusting gear 903-second adjusting rack 904-second motor shaft 905-second fastening bolt 906-second adjusting motor 907-first fixed shaft 908-first adjusting gear 909-first adjusting rack 910-first motor shaft 911-first fastening bolt 912-first adjusting motor 1001-first guiding plate 1002-second guiding plate 1003- The device comprises a first communication cable 1004, a second communication cable 1100, a bullet pushing mechanism 1101, a traction motor 1102, a traction rope 1103, a compression spring 1104, a push plate 1200, a storage clamp 1201, a cabin body 1202, an elastic body 1203, a blocking body 1204, an object to be launched stress port 1205 and a supporting body.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments.

Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the embodiments of the present invention and the features and technical solutions thereof may be combined with each other without conflict.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", and the like refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally arranged when the products of the present invention are used, or orientations or positional relationships that are conventionally understood by those skilled in the art, and such terms are used for convenience of description and simplification of the description, and do not refer to or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 to 7, the present embodiment provides a transmitting device capable of performing multi-specification transmission, including:

the launching platform 200 is used for bearing the object to be launched 400;

the first rotary driving mechanism 100 and the second rotary driving mechanism 300 are respectively arranged at two sides of the launching platform 200, and the object 400 to be launched on the launching platform 200 is launched by controlling the first rotary driving mechanism 100 and the second rotary driving mechanism 300 to reversely rotate;

the first rotary driving mechanism 100 and the second rotary driving mechanism 300 are respectively arranged on the mounting guide rail 600 in an adjustable position;

the positions of the first rotary driving mechanism 100 and the second rotary driving mechanism 300 on the installation guide rail 600 are respectively adjusted, and the distance between the two mechanisms is changed to adapt to the objects to be launched 400 with different sizes and specifications.

The launching device of the embodiment can launch the objects 400 to be launched with various sizes and models, and the launching speed and the launching angle are adjustable and can be adjusted according to the requirement of the target position to be launched, so that the proper size and specification of the objects 400 to be launched can be selected according to the actual launching site condition, and the corresponding launching speed and launching angle are adjusted to obtain the optimal launching effect.

The object 400 to be launched of the launching device of the embodiment can be an anti-riot ammunition, a small aircraft or a small rocket, and the invention aims to provide the launching device which can be widely and adjustably adapted to a wider size specification range and can better meet the launching requirement by adjusting the launching speed and the launching angle.

The launching platform 200 of the launching device of this embodiment is a fixed platform, and has an extension length extending from one side of the first rotation driving mechanism 100 and the second rotation driving mechanism 300 to the other side, and the object 400 to be launched enters the launching platform 200 at a certain initial speed, moves along the launching platform to a position between the first rotation driving mechanism 100 and the second rotation driving mechanism 300, is accelerated, and then is launched along the launching platform.

Specifically, the transmitting device of the present embodiment has the following features:

emission acceleration principle: the launching device has a launching platform 200, the launching platform 200 is used for placing the object 400 to be launched, and the object 400 to be launched can be launched along the length direction of the launching platform 200, namely, the launching platform has a guiding function.

The width of the launching platform 200 is smaller than the width of the object to be launched 400. Two first rotation driving mechanisms 100 and two second rotation driving mechanisms 300 which are the same in size, opposite in rotation direction and same in rotation speed are symmetrically distributed on two sides of the launching platform 200, and the nearest distance between the first rotation driving mechanisms 100 and the second rotation driving mechanisms 300 is slightly smaller than the width of the object 400 to be launched, so that when the object 400 to be launched reaches between the first rotation driving mechanisms 100 and the second rotation driving mechanisms 300, the first rotation driving mechanisms 100 and the second rotation driving mechanisms 300 clamp the object 400 to be launched, and then the object 400 to be launched is thrown out along a straight line under the friction of the first rotation driving mechanisms 100 and the second rotation driving mechanisms 300 rotating at high speed, so that the instant acceleration of the object 400 to be launched along the launching platform 200 is realized.

The principle that the emission speed is controllable: the first rotation driving mechanism 100 is driven by a variable frequency and adjustable speed driving motor. The second rotation driving mechanism 300 is driven by a driving motor with the same frequency conversion function and adjustable speed. The speed of the driving motor is controllable, so that the rotation speeds of the first rotation driving mechanism 100 and the second rotation driving mechanism 300 can be adjusted, friction forces of objects to be launched 400 with different sizes are further realized, and finally the launching speed of the objects to be launched 400 is adjusted and controlled.

The principle of adapting to objects to be launched with different specifications is as follows: the first rotary driving mechanism 100 and the second rotary driving mechanism 300 are respectively arranged on the installation guide rail 600 in an adjustable position, and the distance between the first rotary driving mechanism 100 and the second rotary driving mechanism 300 is changed to adapt to the objects to be launched 400 with different sizes and specifications by respectively adjusting the positions of the first rotary driving mechanism 100 and the second rotary driving mechanism 300 on the installation guide rail 600. The implementation manner of the first and second rotary driving mechanisms 100 and 300 respectively mounted on the mounting rail 600, which can adjust the position of the launching device in this embodiment, includes, but is not limited to, the first and second rotary driving mechanisms 100 and 300 respectively movably mounted on the mounting rail 600, but need to move when the distance is adjusted, and need to remain relatively fixed after the adjustment is completed. Alternatively, the mounting rail 600 of the present embodiment has a plurality of mounting positions for mounting the first rotary driving mechanism 100 and the second rotary driving mechanism 300, respectively, and the first rotary driving mechanism 100 and the second rotary driving mechanism 300 are fixedly mounted at different mounting positions to adjust the distance therebetween.

As an optional implementation manner of this embodiment, this embodiment provides an installation manner in which the first rotary driving mechanism 100 and the second rotary driving mechanism 300 are respectively movable, so as to be more convenient for adjustment operation, for structural characteristics and installation requirements of the first rotary driving mechanism 100 and the second rotary driving mechanism 300, and the specific scheme is as follows:

in the launching device capable of multiple-specification launching of the embodiment, the mounting guide rail 600 has a mounting adjustment portion 601 extending for a certain length in a direction perpendicular to a launching path of an object to be launched on the launching platform, and the first rotary driving mechanism 100 and the second rotary driving mechanism 300 are respectively slidably disposed on the mounting adjustment portion 601; the distance between the first and second rotary drive mechanisms 100 and 300 is changed by slidably adjusting the positions of the two mechanisms on the mounting adjustment portions 601 of the mounting rail 600.

In the present embodiment, the first and second rotary driving mechanisms 100 and 300 are slidably disposed on the mounting adjustment portions 601 of the mounting rail 600, respectively, so that the position can be adjusted more quickly by sliding. However, after the position is adjusted in place, the first rotary driving mechanism 100 and the second rotary driving mechanism 300 need to be fastened to prevent the first rotary driving mechanism 100 and the second rotary driving mechanism 300 from sliding randomly, specifically, the first rotary driving mechanism 100 and the second rotary driving mechanism 300 can be locked by a locking mechanism, the locking mechanism can be selected as a locking screw rod, and after the position is adjusted in place, the first rotary driving mechanism and the second rotary driving mechanism can be fixed by screwing the locking screw rod.

Referring to fig. 2, as an alternative embodiment of the present embodiment, the installation adjustment portion 601 of the present embodiment is a slide way opened on the installation rail 600; the first rotary driving mechanism 100 comprises a first driving motor 103, the second rotary driving mechanism 300 comprises a second driving motor 303, the first driving motor 103 is slidably mounted on the slideway through a first adjusting mechanism, and the second driving motor 303 is slidably mounted on the slideway through a second adjusting mechanism.

Referring to fig. 4, the first adjustment mechanism of this embodiment includes a first adjustment motor 912, a first adjustment gear 908, and a first adjustment rack 909, the first adjustment motor 912 is fixed on the mounting rail 600, the first adjustment gear 908 is mounted on a motor shaft of the first adjustment motor 912, and the first driving motor 103 is fixedly connected to the first adjustment rack 909.

Referring to fig. 3, the second adjusting mechanism of this embodiment includes a second adjusting motor 906, a second adjusting gear 902, and a second adjusting rack 903, where the second adjusting motor 906 is fixed on the mounting rail 600, the second adjusting gear 902 is mounted on a motor shaft of the second adjusting motor 906, and the second driving motor 303 is fixedly connected to the second adjusting rack 903. Optionally, the first adjusting mechanism includes a first fixed shaft 907, one end of the first fixed shaft 907 is fixedly connected to the first driving motor 103, and the other end of the first fixed shaft 907 passes through the slideway and is fixedly connected to the first adjusting rack 909; the second adjusting mechanism comprises a second fixed shaft 901, one end of the second fixed shaft 901 is fixedly connected with the second driving motor 303, and the other end of the second fixed shaft 901 penetrates through the slide way to be fixedly connected with the second adjusting rack 903.

The first driving motor 103 of the present embodiment passes through the slide of the mounting rail 600 by the first fixing shaft 907 and is then fixed to the movable first adjustment rack 909. The first adjusting rack 909 is in meshed transmission with the first adjusting gear 908, and the first adjusting gear 908 is driven by the first adjusting motor 912 through the first motor shaft 910. And the first adjusting motor 912 is tightened by a first fastening bolt 911, which is manually tightened, through a clamping hole formed through the mounting rail 600.

That is to say, the first fastening bolt 911 passes through the clamping hole on the mounting rail 600 to tightly push the first adjusting motor 912, so that the first adjusting motor 912 is fixed, the first adjusting motor 912 rotates forward and reversely to output the first motor shaft 910, and the first adjusting gear 908 is driven to rotate forward and backward. The forward and reverse rotation of the first adjusting gear 908 drives the first adjusting rack 909 to move left and right inside the mounting rail 600, so that the first driving motor 103 moves along the slide of the mounting rail 600.

The second driving motor 303 of this embodiment passes through the slide of the mounting rail 600 by the second fixing shaft 901, and then is fixed to the movable second adjusting rack 903. The second adjusting rack 903 is in meshed transmission with a second adjusting gear 902, and the second adjusting gear 902 is driven by a second adjusting motor 906 through a second motor shaft 904. And the second adjustment motor 906 is tightened by a second fastening bolt 905, which is manually loosened, through a clamping hole formed through the mounting rail 600.

That is to say, the second fastening bolt 905 passes through the clamping hole on the mounting rail 600 and pushes up the second adjusting motor 906 tightly, so that the second adjusting motor 906 is fixed, and the forward and reverse rotation of the second adjusting motor 906 outputs the second motor shaft 904 to drive the second adjusting gear 902 to rotate forward and backward. And the forward and reverse rotation of the second adjusting gear 902 can drive the second adjusting rack 903 to move left and right in the installation guide rail 600, so that the second driving motor 303 can move along the slide way of the installation guide rail 600.

Here, it is to be noted that: the first adjustment motor 912 and the second adjustment motor 906 have the same specification, and output directions thereof are opposite to each other only when they are operated. Namely, the first driving motor 103 and the second driving motor 303 can be moved closer to or farther from each other at the same speed. This ensures that launch platform 200 is always centered for launch.

The transmitting device of this embodiment realizes first rotation driving mechanism 100, the adjustable installation in position of second rotation driving mechanism 300 respectively through first adjustment mechanism and second adjustment mechanism, and first adjustment mechanism and second adjustment mechanism all adopt rack and pinion drive mechanism, realized converting the rotation of adjusting motor into straight line operation and carry out the distance adjustment, moreover, any one in the accessible locking rack and pinion realizes meshing driven locking, keep first rotation driving mechanism 100, second rotation driving mechanism 300 is in fixed position, and is simple and reliable.

The first rotation driving mechanism 100 of the present embodiment further includes a first rotating shaft 102 connected to a motor shaft of the first driving motor 103, a first roller 101 connected to the first rotating shaft 102; the second rotation driving mechanism 300 further includes a second rotating shaft 302 connected to a motor shaft of a second driving motor 303, and a second roller 301 connected to the second rotating shaft 302. The first roller 101 and the second roller 301 of the present embodiment are symmetrically distributed on two sides of the launching platform 200.

The first roller 101 of this embodiment is driven by a first driving motor 103 with variable frequency and adjustable speed through a first rotating shaft 102. The second roller 301 is also driven by a second driving motor 303 with the same frequency conversion function and adjustable speed through a second rotating shaft 302. Here, the first drive motor 103 and the second drive motor 303 are only different in output direction, and the rest are identical. This keeps the first wheel 101 and the second wheel 301 moving in synchronization and in opposite directions. And the speed of the first driving motor 103 and the second driving motor 303 is controllable, so that the first roller 101 and the second roller 301 are driven to adjust the rotating speed. Then, friction forces of different sizes of the object 400 to be shot are realized, and finally, the shooting speed of the object 400 to be shot is regulated and controlled.

The launching device of the embodiment further comprises a supporting platform 700, the launching platform 200 is fixedly supported on the supporting platform 700 through a first supporting column 501 and a second supporting column 502, and the mounting rail 600 is fixed on the supporting platform 700. The installation guide rail 600 of the present embodiment is an integrated guide rail extending a certain length, and the installation guide rail 600 penetrates from one side of the launching platform 200 to the other side along a direction perpendicular to the launching platform 200; the first rotation driving mechanism 100 and the second rotation driving mechanism 300 are respectively located on the installation guide rails at two sides of the launching platform 200 and are symmetrically arranged.

The launching device of this embodiment further includes an angle adjustment motor 800 for driving the supporting platform 700 to rotate, and the supporting platform 700 is driven to rotate by controlling the operation of the angle adjustment motor 800, so that the launching inclination angle can be changed.

Referring to fig. 8, as an alternative embodiment of the present embodiment, in the launching device of the present embodiment, a first guide mechanism and a second guide mechanism are respectively disposed on the launching platform 200 at positions upstream of the first rotary driving mechanism 100 and the second rotary driving mechanism 300, the first guide mechanism includes a first guide plate 1001, the second guide mechanism includes a second guide plate 1002, and the first guide plate 1001 and the second guide plate 1002 are symmetrically disposed on two sides of the launching platform 200;

by adjusting the distance between the first guide plate 1001 and the second guide plate 1002 to be slightly larger than the width of the object 400 to be launched, the object 400 to be launched is guided to enter between the first rotary driving mechanism 100 and the second rotary driving mechanism 300.

Optionally, the first guiding mechanism includes a first guiding motor (not shown) for driving the first guiding plate 1001 to move, the second guiding mechanism includes a second guiding motor (not shown) for driving the second guiding plate 1002 to move, the first guiding motor is linked with the first adjusting motor 912, the second guiding motor is linked with the second adjusting motor 906, and when the first adjusting motor 912 and the second adjusting motor 906 adjust the distance between the first rotation driving mechanism 100 and the second rotation driving mechanism 300, the first guiding motor and the second guiding motor synchronously operate to adjust the distance between the first guiding plate and the second guiding plate.

Specifically, the first guiding motor and the first adjusting motor 912 of the present embodiment are in communication connection through a first communication cable 1003, so as to implement real-time communication of the control signal; the second guiding motor and the second adjusting motor 906 are in communication connection through a second communication cable 1004, so that real-time communication of the control signals is realized.

In the above manner, when the distance between the first rotation driving mechanism 100 and the second rotation driving mechanism 300 is adjusted, the control signal is used for synchronous control, and the adaptive adjustment of the distance between the first guide plate and the second guide plate is simultaneously realized, and besides, the synchronous adjustment of the first guide plate and the second guide plate with the first rotation driving mechanism 100 and the second rotation driving mechanism 300 can also be realized through a simple mechanical transmission structure.

Specifically, in the present embodiment, the first guide plate 1001 is connected to the first rotary driving mechanism 100 through a first linkage, the second guide plate 1002 is connected to the second rotary driving mechanism 300 through a second linkage, and when the first adjustment motor 912 and the second adjustment motor 906 adjust the distance between the first rotary driving mechanism 100 and the second rotary driving mechanism 300, the first linkage and the second linkage perform transmission to synchronously adjust the distance between the first guide plate 1001 and the second guide plate 1002.

Further, the first guide plate 1001 of the present embodiment is connected to the housing of the first drive motor 103 of the first rotary drive mechanism 100 via a first link, and the second guide plate 1002 is connected to the housing of the second drive motor 303 of the second rotary drive mechanism 300 via a second link. The first linkage member of the present embodiment is a first connecting rod, and the second linkage member is a second linkage rod.

In summary, in the launching device of this embodiment, in order to increase the directional stability of the object 400 to be launched during the conveying process, the first guide plate 1001 and the second guide plate 1002 are symmetrically added on two sides of the launching platform 200. Meanwhile, the objects to be launched 400 with different specifications are considered, so that the motor of the guide plate is in communication connection with the first adjusting motor 912 and the second adjusting motor 906 respectively, the position of the guide plate can be synchronously adjusted, and the objects to be launched 400 with different specifications are compatible. Here, the distance between the guide plates is set to be slightly larger than the width of the object 400 to be shot, so that the object 400 to be shot is not blocked, and the direction of the object 400 to be shot can be adjusted.

Referring to fig. 9 to 11, in the launcher of the present embodiment, a temporary storage area 201 for storing the objects to be launched 400 is disposed on the launching platform 200, the launcher includes a pushing mechanism 1100 disposed on a side of the temporary storage area 201 away from the first rotary driving mechanism 100 and the second rotary driving mechanism 300, and the pushing mechanism 1100 is configured to push the objects to be launched 400 stored in the temporary storage area 201 out toward the first rotary driving mechanism 100 and the second rotary driving mechanism 300.

The launching device of the embodiment can store a plurality of objects 400 to be launched in the temporary storage area 201, and the objects 400 to be launched are pushed out one by one to the first rotary driving mechanism 100 and the second rotary driving mechanism 300 to be launched by controlling the push-and-eject mechanism 1100, so that the objects 400 to be launched are prevented from being manually conveyed one by one, automatic conveying and continuous conveying are realized, and the launching efficiency is improved.

Optionally, a first guide plate 1001 and a second guide plate 1002 are symmetrically disposed on two sides of the ejection end of the object to be launched of the temporary storage area 201. Further, the first guide plate 1001 and the second guide plate 1002 have a trapezoidal shape, which can provide a better guiding function, and the guide plate outlet width is slightly larger than the cartridge width.

Referring to fig. 10, as an alternative embodiment of the present embodiment, the projectile pushing mechanism 1100 of the present embodiment includes a pushing plate 1104, a compression spring 1103, a traction motor 1101 and a traction rope 1102, wherein one end of the compression spring 1103 is connected to the pushing plate 1104, and the other end of the compression spring is stopped against the launching platform 200; the traction motor 1101 is fixed on the launching platform 200, the output end of the traction motor 1101 is connected with the traction rope 1102, and the other end of the traction rope 1102 is connected with the push plate 1104.

In this embodiment, the traction motor 1101 pulls the recovery traction rope 1102 to drive the push plate 1104 to move away from the temporary storage area 201, the compression spring 1103 is compressed, the traction motor 1101 releases the traction rope 1102, and the compression spring 1103 recovers deformation to push the push plate 1104 to move towards the temporary storage area 201, so as to push the object 400 to be launched out.

In the embodiment, the object 400 to be launched stored in the temporary storage area 201 can be pushed out for launching by controlling the action of the traction motor 1101, so that the manual transmission of the object 400 to be launched is avoided, the operation is simplified, and the launching efficiency is improved.

Referring to fig. 12 to 16, the launching device of the present embodiment further includes a storage clip 1200 for storing the object 400 to be launched, and an ejection mechanism 1100 for ejecting the object 400 to be launched from the storage clip 1200.

Referring to fig. 13 to 16, the storage clip 1200 of the present embodiment includes a storage body 1201, an elastic body 1202 and a support body 1205, the storage body 1201 has an open chamber 1206 therein for storing a plurality of objects to be launched 400, one end of the elastic body 1202 is abutted against the closed end of the open chamber, the other end of the elastic body 1202 extends towards the open end of the open chamber and is connected to the support body 1205, and the objects to be launched 400 are supported on the support body 1205.

The storage clip 1200 of this embodiment further comprises a blocking body 1203 disposed above the opening of the bin body 1201, the blocking body 1203 and the opening of the bin body 1201 are disposed at an interval, and the height of the interval is greater than the height of the object 400 to be launched; the width of the blocking body 1203 is smaller than the width of the opening of the cabin body 1201.

In the launching device of this embodiment, a storage clip 1200 is additionally arranged on the launching platform 200, and the object to be launched outlet of the storage clip 1200 and the launching platform 200 are in the same plane during installation, so that the object to be launched 400 ejected by the storage clip 1200 can move along the plane of the launching platform 200. The push plate 1104 of the ejection mechanism 1100 is aligned with the geometric center of the plane of the force-receiving opening 1204 of the storage clip 1200. Thus, when the traction motor 1101 releases the traction rope 1102, the push plate 1104 is subjected to potential energy conversion by the compression spring 1103 to push out the uppermost object 400 to be launched in the storage clip 1200. The push plate 1104 is then quickly pulled back into place by the pull motor 1101 through the pull cord 1102 to await the next release of the projectile 400.

After the uppermost object 400 to be launched in the storage clip 1200 is launched, the elastic body 1202 in the storage clip 1200 releases potential energy to push the supporting body 1205, so that the object 400 to be launched is located at the launching position again.

The object 400 to be launched is acted by the elastic body 1202, so that the object 400 to be launched always pushes against the blocking body 1203, and the object 400 to be launched is clamped by the blocking body 1203 and the bearing body 1205.

The length L of the blocking body 1203 in the storage clamp 1200 is smaller than the length W of the cabin body 1201, so that the object 400 to be launched is conveniently pressed into the cabin body 1201. The area of the launching port of the object 400 to be launched is larger than the force-bearing port 1204 of the object to be launched by taking the launching direction as the axis, so that the object 400 to be launched can be conveniently positioned when the object 400 to be launched is installed on the storage clamp 1200. When the storage clip 1200 is installed, the geometric centers of the launching port, the force-receiving opening 1204 of the object to be launched and the push plate 1104 are on the same line, the area of the launching port is larger than that of the force-receiving opening 1204 of the object to be launched, and the area of the force-receiving opening 1204 of the object to be launched is larger than that of the push plate 1104.

In the embodiment, the object 400 to be launched stored in the storage clip 1200 can be pushed out for launching by controlling the action of the traction motor 1101, so that the manual transmission of the object 400 to be launched is avoided, the operation is simplified, and the launching efficiency is improved.

Alternatively, when the object to be fired 400 is an anti-riot ammunition, the storage clip 1200 of the present embodiment may be a cartridge clip.

Referring to fig. 17, the present embodiment also provides a method for controlling a transmitting apparatus capable of performing multi-specification transmission, including:

receiving parameter information of an object to be transmitted;

controlling and adjusting the positions of the first rotary driving mechanism and the second rotary driving mechanism on the installation guide rail according to the parameter information, and changing the distance between the first rotary driving mechanism and the second rotary driving mechanism;

collecting the position information of the first rotary driving mechanism and the second rotary driving mechanism on the installation guide rail, and judging whether the distance requirement of the object to be launched is met;

if the position of the first rotary driving mechanism and the position of the second rotary driving mechanism on the installation guide rail are not adjusted, the emission distance is adjusted.

The parameter information of the object to be launched of the embodiment includes the size specification or the weight of the object to be launched, and the parameter information of the object to be launched can be specifically input to a control system of the launching device in a manual input mode, and the control system can perform adaptive adjustment according to the parameter information of the object to be launched so as to meet the launching requirement.

Further, the method for controlling the transmitting apparatus in this embodiment includes:

receiving the transmitted target information;

controlling and adjusting the inclination angle of a supporting platform of the transmitting device according to the target information;

acquiring inclination angle information of the supporting platform, and judging whether the angle range of reaching the target position is met;

if the angle of the supporting platform of the launching device is not adjusted, the angle of the supporting platform of the launching device is continuously controlled and adjusted;

and/or, receiving the transmitted target density information; controlling and adjusting the rotating speed of the first rotating driving mechanism and the second rotating driving mechanism according to the target information;

collecting the rotation speed information of the first rotation driving mechanism and the second rotation driving mechanism, and judging whether the rotation speed range for realizing the emission effect is met or not;

if the rotation speed of the first rotary driving mechanism is not the same as that of the second rotary driving mechanism, the rotation speed of the first rotary driving mechanism and the rotation speed of the second rotary driving mechanism are continuously controlled and adjusted.

The target information of the embodiment includes target position information and target density information, the target position information includes information such as a positioning coordinate of a target position and a distance of the target position, the emitting speed and the inclination angle can be adjusted according to the information, the target position can be accurately hit, and the purposes of evacuating people as soon as possible, keeping a calm and disorderly, and not causing injury to people are achieved.

In the embodiment, when the parameter information and the target information of the object to be launched are input, all the relevant information is input, the control end of the launching device can carry out integration processing according to the input information, calculate and output the launching angle, the distance between the rollers and the launching speed, and correspondingly adjust the control end according to the input information so as to meet the launching requirement.

Further, referring to fig. 18, the method for controlling the transmitting apparatus of the present embodiment further includes:

when the distance adjustment, the angle adjustment and the rotating speed adjustment of the launching meet the requirements, controlling the push-eject mechanism to act to push the object to be launched out to a position between the first rotary driving mechanism and the second rotary driving mechanism for launching;

the control of the ejection mechanism to push the object to be launched comprises the following steps:

controlling a traction motor to act to pull and recover a traction rope, and pulling a push plate to extrude a compression spring by the traction rope;

when the push plate is detected to be in place, controlling the traction motor to stop acting;

judging whether the temporary storage area or the storage clamp is stored with objects to be launched;

if the pushing plate is not in the working state, the traction motor is kept in the current working state.

In the embodiment, the explosion-proof ammunition is exemplified in fig. 17 and 18, and when the object to be launched 400 is another body, the person skilled in the art can make adaptive modifications to the input parameters according to the launching requirements.

The present embodiment also provides a computer-readable storage medium storing a computer-executable program that, when executed, implements the control method of the transmitting apparatus.

The computer readable storage medium of the present embodiments may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

The present embodiment also provides an electronic device comprising a processor and a memory, the memory being configured to store a computer-executable program, and the processor being configured to execute the method of controlling the transmitting apparatus when the computer-executable program is executed by the processor.

The electronic device is in the form of a general purpose computing device. The processor can be one or more and can work together. The invention also does not exclude that distributed processing is performed, i.e. the processors may be distributed over different physical devices. The electronic device of the present invention is not limited to a single entity, and may be a sum of a plurality of entity devices.

The memory stores a computer executable program, typically machine readable code. The computer readable program may be executed by the processor to enable an electronic device to perform the method of the invention, or at least some of the steps of the method.

The memory may include volatile memory, such as Random Access Memory (RAM) and/or cache memory, and may also be non-volatile memory, such as read-only memory (ROM).

It should be understood that elements or components not shown in the above examples may also be included in the electronic device of the present invention. For example, some electronic devices further include a display unit such as a display screen, and some electronic devices further include a human-computer interaction element such as a button, a keyboard, and the like. Electronic devices are considered to be covered by the present invention as long as the electronic devices are capable of executing a computer-readable program in a memory to implement the method of the present invention or at least a part of the steps of the method. From the above description of the embodiments, those skilled in the art will readily appreciate that the present invention can be implemented by hardware capable of executing a specific computer program, such as the system of the present invention, and electronic processing units, servers, clients, mobile phones, control units, processors, etc. included in the system. The invention may also be implemented by computer software for performing the method of the invention, e.g. control software executed by a microprocessor, an electronic control unit, a client, a server, etc. It should be noted that the computer software for executing the method of the present invention is not limited to be executed by one or a specific hardware entity, and can also be realized in a distributed manner by non-specific hardware. For computer software, the software product may be stored in a computer readable storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or may be distributed over a network, as long as it enables the electronic device to perform the method according to the present invention.

The above embodiments are only used for illustrating the invention and not for limiting the technical solutions described in the invention, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above embodiments, and therefore, any modification or equivalent replacement of the present invention is made; all such modifications and variations are intended to be included herein within the scope of this disclosure and the appended claims.