CN110906785B - Robot for controlling rifle shooting - Google Patents
Robot for controlling rifle shooting Download PDFInfo
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- CN110906785B CN110906785B CN201911088362.XA CN201911088362A CN110906785B CN 110906785 B CN110906785 B CN 110906785B CN 201911088362 A CN201911088362 A CN 201911088362A CN 110906785 B CN110906785 B CN 110906785B
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- rifle
- wheel
- track
- wheat
- crawler
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A35/00—Accessories or details not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot for controlling rifle shooting, and relates to the field of weapon equipment; a robot for controlling rifle firing comprising: the robot comprises a terrain chassis, a rifle mounting part, a rifle control part, a rifle firing part and a control system; the rifle is fixed on a rifle mounting part, and the rifle mounting part and the all-terrain chassis can offset the recoil force generated by the rifle due to shooting; the rifle control part is fixed on the all-terrain chassis, is connected with the rifle mounting part and can control the rifle to aim upwards or downwards under the instruction of the control system; the rifle firing part is fixed on the rifle mounting part and can trigger a trigger of the rifle under the instruction of the control system; the control system also controls the travel of the all-terrain chassis in any direction. The robot for controlling rifle shooting has the advantages that through the design of mechanically controlling rifle shooting, soldiers are prevented from directly participating in street fighting, and fighting and staff reduction of the soldiers are effectively reduced.
Description
Technical Field
The invention relates to the field of weapon equipment, in particular to a robot for controlling rifle shooting.
Background
The urban street battle is a common battle mode in modern anti-terrorism battle, in the street battle, because the battle field environment is complex and civilians are more and can not use heavy weapons to strike, in order to avoid civilian casualties, soldiers are usually dispatched to directly enter the battle field, so the street battle is also a battle field with higher battle rate of soldiers in the current war, in order to avoid the soldiers' casualties, a robot capable of directly replacing the soldiers to enter the battle field and fight is continued.
Disclosure of Invention
First, technical problem to be solved
The invention aims to solve the problems in the prior art, and particularly provides a robot for controlling rifle shooting, which solves the problem that soldiers need to directly put into a battlefield in the existing roadway battle.
Second, the technical scheme
To solve the above technical problem, the present invention provides a robot for controlling rifle shooting, comprising: the all-terrain rifle comprises an all-terrain chassis, a rifle installation part, a rifle control part, a rifle firing part and a control system;
the rifle is fixed on a rifle mounting part, and the rifle mounting part and the all-terrain chassis can offset the recoil force generated by the rifle due to shooting;
the rifle control part is fixed on the all-terrain chassis, is connected with the rifle mounting part and can control the rifle to aim upwards or downwards under the instruction of the control system;
the rifle firing part is fixed on the rifle mounting part and can trigger a trigger of the rifle under the instruction of the control system;
the control system also controls the travel of the all-terrain chassis in any direction.
The robot for controlling rifle shooting has the advantages that through the design of mechanically controlling rifle shooting, soldiers are prevented from directly participating in street fighting, and fighting and staff reduction of the soldiers are effectively reduced.
The rifle mounting part comprises a rifle support arm, a rifle splint rotating shaft, a hand guard support and a butt support;
the rifle support arm is fixed on the all-terrain chassis, and the rifle clamp plate is movably arranged on the rifle support arm through a rifle clamp plate rotating shaft;
the hand guard support and the butt stock support are respectively fixed at two ends of the two-step rifle clamping plate, the hand guard support is used for supporting a lower hand guard of the rifle, and the butt stock support is used for supporting a butt stock of the rifle.
The robot for controlling rifle shooting of this technical scheme carries out the design fixed through rifle splint, hand protector support and stock support to the rifle, makes the rifle have more stable effect, and the effectual rifle that has reduced produces the offset because of recoil.
The rifle control part comprises a rifle control motor, a first rifle turntable, a second rifle turntable and a rifle rotating rod;
the rifle control motor is fixed on the all-terrain chassis and can drive the first-step rifle turntable to rotate;
the first step of gun rotating disc is fixed with a rifle control motor, and the second step of gun rotating disc is fixed with a rifle clamping plate rotating shaft;
the first end or the second end of the rifle rotating rod is movably connected with the first end or the second end of the first rifle rotating disk or the second rifle rotating disk respectively, so that a movable parallelogram is formed among the rifle rotating rod, the first rifle rotating disk and the second rifle rotating disk to achieve the effect of a hinge four-bar mechanism.
The robot for controlling rifle shooting of the technical scheme controls the design of up-and-down aligning the muzzle of the rifle through the four-bar hinge mechanism, so that the up-and-down adjustment of the muzzle of the rifle is more stable.
The rifle firing part comprises a rifle firing rod, a first electromagnet and a second electromagnet;
the rifle firing rod penetrates through the front of a trigger of the rifle, the first electromagnet and the second electromagnet are respectively fixed at two end parts of the rifle firing rod, and the first electromagnet and the second electromagnet can synchronously push the rifle firing rod to move;
the robot for controlling rifle shooting of the technical scheme synchronously pushes the rifle firing rod through the two electromagnets, so that the firing of the rifle is more stable and accurate, and the condition that the rifle is effectively prevented from being fired or cannot be fired in time is avoided.
The control system comprises a main control board unit, a motor driving unit, a display unit, a remote control unit and an electromagnet control unit;
the main control board unit is electrically connected with the motor driving unit and the electromagnet control unit;
the main control board unit is in wireless communication connection with the display unit and the remote control unit;
the remote control unit can send a control instruction to the main control board unit;
the main control board unit can send the received control instruction to the motor driving unit or the electromagnet control unit.
The robot for controlling rifle shooting in the technical scheme has the advantages that through the remote control design of the remote control unit, soldiers can be far away from a battlefield, and casualties of the soldiers are reduced.
The camera is arranged between the sight and the target of the rifle, the camera is electrically connected with the main control board unit, and the main control board unit can transmit visual images shot by the camera to the display unit for display.
The robot for controlling rifle shooting of the technical scheme has the advantages that the design of transmitting visual images is implemented through the camera, so that soldiers can know the condition of a battlefield constantly, and the operation efficiency is improved.
The all-terrain chassis comprises a vehicle body, a wheat wheel mechanism, a crawler mechanism and a switching mechanism;
the switching mechanism controls the wheat wheel mechanism to descend to enable the crawler mechanism to be separated from the ground, so that the chassis is freely switched in a Mecanum wheel or crawler advancing mode, and the effect of adapting to all terrains is achieved
The crawler mechanisms are arranged on two sides of the vehicle body and can independently control the chassis to move in any direction;
the switching mechanism is arranged at the bottom of the vehicle body, the wheat wheel mechanism is arranged on the switching mechanism, and the switching mechanism can control the wheat wheel mechanism to ascend or descend;
the wheat wheel mechanism can independently control the chassis to move in any direction;
the switching mechanism comprises a frame body, an electric push rod, a guide rail and a slide block;
the wheat wheel mechanism is arranged on the frame body;
the first end of the electric push rod is fixed with the vehicle body, the second end of the electric push rod is fixed with the frame body, and the electric push rod can push the frame body downwards;
the guide rail is in sliding fit with the sliding block, the guide rail is arranged on the frame body, and the sliding block is arranged on the vehicle body;
the electric push rod and the guide rail are arranged in parallel.
According to the technical scheme, the robot for controlling rifle shooting controls the wheat wheel mechanism to descend through the switching mechanism so that the crawler mechanism is separated from the ground, the chassis is freely switched in a Mecanum wheel or crawler advancing mode, and the effect of adapting to all terrains is achieved.
The wheat wheel mechanism comprises a Mecanum wheel, a wheat wheel shaft, a wheat wheel bearing, a wheat wheel motor frame and a wheat wheel motor;
the Mecanum wheel, the wheat wheel shaft, the wheat wheel bearing, the wheat wheel motor frame and the wheat wheel motor are all coaxially arranged, and the wheat wheel bearing and the wheat wheel motor frame are fixed with the frame body;
the wheat wheel shaft penetrates through the Mecanum wheel and is fixed with the wheat wheel motor, and the wheat wheel bearings are arranged at two ends of the wheat wheel shaft;
the wheat wheel motor is fixed with the wheat wheel motor frame, and a front output shaft of the wheat wheel motor is connected with a wheat wheel shaft.
The robot for controlling rifle shooting in the technical scheme can enable the chassis to rapidly advance on the flat ground through the design of the Mecanum wheels, and can rapidly convert the direction.
The crawler mechanism comprises a crawler, a crawler driving wheel assembly, a crawler anti-collision wheel assembly, a crawler damping wheel assembly, a crawler connecting shaft assembly and a crawler connecting plate assembly;
the crawler connecting shaft assembly penetrates through the crawler connecting plate assembly and is fixed with the vehicle body;
the crawler driving wheel assembly is arranged at the second end of the crawler connecting plate assembly and is used for driving the crawler mechanism;
the track anti-collision wheel assembly is movably arranged at the first end of the track connecting plate assembly and can buffer the impact force on the front surface;
the track damping wheel assembly is movably arranged on the track connecting shaft assembly and can rotate on the track connecting shaft assembly, so that the track damping wheel assembly does lever motion relative to the track connecting plate assembly to buffer vibration generated by concave-convex ground;
the track surrounds the track driving wheel assembly, the track anti-collision wheel assembly and the track damping wheel assembly, and rotates around the track driving wheel assembly, the track anti-collision wheel assembly and the track damping wheel assembly under the driving of the track driving wheel assembly.
The robot for controlling rifle shooting of the technical scheme has a good anti-skid effect by designing the crawler belt. Make the chassis have good shock attenuation effect through track shock attenuation wheel subassembly, through the design of track anticollision wheel subassembly, make the chassis have good positive buffering effect when the striking.
The crawler driving wheel assembly comprises a crawler driving wheel mounting plate, a crawler driving wheel transmission part, a crawler driving wheel motor and a crawler driving wheel;
a first end of the track driving wheel mounting plate is fixed with a second end of the track connecting plate assembly, and the track driving wheel is movably mounted at the second end of the track driving wheel mounting plate;
the crawler driving wheel motor is in transmission connection with the crawler driving wheel through a crawler driving wheel transmission part and can drive the crawler driving wheel to rotate.
Wherein, the driving wheel transmission part is a synchronous pulley component and comprises a driving synchronous wheel, a transmission synchronous wheel and a synchronous belt;
the transmission ratio between the driving synchronizing wheel and the transmission synchronizing wheel is 6: 1.
the robot for controlling rifle shooting of the technical scheme can ensure that the chassis plays a role in physical overload protection when overloaded through the design of the synchronous pulleys, thereby effectively preventing other parts from being damaged, and effectively improving the driving torque of the motor through the design of the reduction ratio.
The crawler anti-collision wheel assembly comprises a first anti-collision wheel, a second anti-collision wheel, an anti-collision wheel mounting plate and an anti-collision wheel buffer;
the first end of the anti-collision wheel mounting plate is provided with two anti-collision wheel mounting blocks, and the circle center connecting line of the two anti-collision wheel mounting blocks and the central line of the main body of the anti-collision wheel mounting plate are inclined;
after the first anti-collision wheel and the second anti-collision wheel are arranged on the two anti-collision wheel mounting blocks, the excircle common tangent of the first anti-collision wheel and the second anti-collision wheel forms an included angle of 60 degrees with the horizontal line of the ground;
the second end of the anti-collision wheel mounting plate is movably connected with the first end of the track connecting plate component;
the second end of the anti-collision wheel mounting plate is provided with a first buffering mounting hole in the extending direction of the first end, the first end of the crawler connecting plate assembly is provided with a second buffering mounting hole in the extending direction of the second end, and the two ends of the anti-collision wheel buffer are respectively movably connected with the first buffering mounting hole and the second buffering mounting hole.
The robot for controlling rifle shooting of the technical scheme is provided with two anti-collision wheels through inclination, so that the chassis can enable the anti-collision wheel mounting plate to rotate to decompose the impact force when colliding, and further decompose the impact force under the action of the anti-collision wheel buffer.
The track damping wheel assembly comprises a first damping wheel set, a second damping wheel set, a damping buffer, a first damping movable plate and a second damping movable plate;
the first damping movable plate and the second damping movable plate are triangular, and three corners are respectively provided with a damping wheel set mounting hole, a damping buffer mounting hole and a damping movable plate mounting hole;
the first damping movable plate and the second damping movable plate are symmetrically arranged and movably sleeved on the crawler connecting shaft assembly through respective damping movable plate mounting holes;
two ends of the shock absorber are respectively and movably connected with the shock absorber mounting holes of the first shock absorber movable plate and the second shock absorber movable plate, so that the first shock absorber movable plate and the second shock absorber movable plate are linked;
the first damping wheel set is movably arranged on the damping wheel set mounting hole of the first damping movable plate and can do lever motion on the first damping movable plate;
the second damping wheel set is movably arranged on the damping wheel set mounting hole of the second damping movable plate and can do lever motion on the second damping movable plate.
The robot for controlling rifle shooting of the technical scheme has the advantages that through the design that the damping buffers are arranged between the two damping movable plates, the chassis can better decompose the vibration generated in the advancing process, and the shooting precision is improved.
The first damping wheel set and the second damping wheel set respectively comprise a damping wheel mounting plate, a first damping wheel and a second damping wheel;
first shock attenuation wheel and second shock attenuation wheel movable mounting are at the both ends of shock attenuation wheel mounting panel.
The robot for controlling rifle shooting of the technical scheme has the advantages that the design that two damping wheels are arranged on each damping wheel set is adopted, so that the chassis has a further damping effect in the advancing process.
Wherein, crashproof wheel bumper and shock attenuation bumper are hydraulic buffer.
The robot for controlling rifle shooting of the technical scheme adopts the design that the anti-collision wheel buffer and the shock absorption buffer are hydraulic buffers, so that the shock absorbers are longer in service life and can adapt to severe battlefield environments.
Wherein, the excircle of track is equipped with the horizontal bar perpendicular with track girth direction on the equipartition.
The robot for controlling rifle shooting of the technical scheme has the advantages that the transverse bars vertical to the circumferential direction of the track are arranged on the track, so that the track can increase the ground holding force through the transverse bars, the chassis can have the effect of climbing steps, and the adaptability of roadway battles is further improved.
Thirdly, the invention has the beneficial effects
Compared with the prior art, the full-automatic mobile target for shooting training has the following beneficial effects:
(1) the design of mechanically controlling the shooting of firearms prevents soldiers from directly participating in the street battle, and effectively reduces the fighting loss of the soldiers;
(2) the chassis has good anti-skid effect through the design of the crawler belt. Make the chassis have good shock attenuation effect through track shock attenuation wheel subassembly, through the design of track anticollision wheel subassembly, make the chassis have good positive buffering effect when the striking.
(3) Through the design of Mecanum wheels, the chassis can quickly travel on a flat ground, and the direction can be quickly switched.
(4) Carry out the design fixed through rifle splint, hand protector support and stock support to the rifle, make the rifle have more stable effect, the effectual rifle that has reduced produces the offset because of recoil.
Drawings
Fig. 1 is a schematic view showing the overall construction of a robot for controlling rifle shooting according to the present invention;
FIG. 2 is a schematic view of the upper mechanism of the robot for controlling rifle fire according to the present invention;
FIG. 3 is a schematic view of the rifle mounting of the robot for controlling rifle firing of the present invention on a rifle mounting;
FIG. 4 is an exploded view of the rifle mounting of the robot for controlling rifle firing according to the present invention;
FIG. 5 is a schematic structural view of a rifle mounting part and a rifle control part of the robot for controlling rifle shooting according to the present invention;
FIG. 6 is a schematic structural view of a rifle firing portion of a robot for controlling rifle firing according to the present invention;
fig. 7 is a schematic view showing the overall construction of a robot for controlling rifle shooting according to the present invention;
FIG. 8 is a schematic view of the body and the microphone mechanism of the robot for controlling rifle fire of the present invention;
FIG. 9 is a schematic view of the microphone mechanism and switching mechanism of the robot for controlling rifle fire in accordance with the present invention;
FIG. 10 is a schematic view of the wheel mechanism of the robot for controlling rifle fire of the present invention mounted on a frame;
FIG. 11 is a block diagram of a robot for controlling rifle firing according to the present invention;
FIG. 12 is a schematic view of the wheat wheel mechanism of the robot for controlling rifle firing of the present invention;
FIG. 13 is an exploded view of the wheat wheel mechanism of the robot for controlling rifle firing of the present invention;
FIG. 14 is a schematic view of a track mechanism of a robot for controlling rifle firing according to the present invention;
FIG. 15 is a schematic illustration of a track drive wheel assembly of a robot for controlling rifle firing of the present invention mounted on a track attachment plate assembly;
FIG. 16 is an exploded view of the track drive wheel assembly of the robot for controlling rifle fire in accordance with the present invention;
FIG. 17 is a schematic view of a track drive wheel drive of a robot for controlling rifle firing according to the present invention;
FIG. 18 is a schematic illustration of the track bumper wheel assembly of the robot for controlling rifle firing of the present invention mounted on a track attachment plate assembly;
FIG. 19 is an exploded view of the track bump wheel assembly of the robot for controlling rifle firing of the present invention;
FIG. 20 is a schematic view of a crash wheel mounting plate of the robot for controlling rifle firing of the present invention;
FIG. 21 is a schematic diagram of the first and second wheels of the robot for controlling rifle fire with a common tangent line of their outer circles forming an angle of 60 with the horizontal line of the ground;
FIG. 22 is a schematic view of the track damper wheel assembly of the robot for controlling rifle firing of the present invention mounted on the track attachment plate assembly;
FIG. 23 is a schematic view of a first or second shock absorbing wheel set of the robot for controlling rifle firing of the present invention;
figure 24 is a schematic view of a first or second shock absorbing movable plate of the robot for controlling rifle firing of the present invention;
FIG. 25 is a schematic view of the track link of the robot for controlling rifle firing of the present invention;
FIG. 26 is a schematic view of a track damper wheel assembly of the robot for controlling rifle firing of the present invention;
FIG. 27 is a schematic view of the tracks of a robot for controlling rifle firing according to the invention
FIG. 28 is a schematic view of a robot for controlling rifle firing of the present invention behind a shelter;
FIG. 29 is a schematic stair climbing diagram of a robot for controlling rifle firing according to the present invention;
FIG. 30 is a schematic view of the stair climbing effect of the robot for controlling rifle firing according to the present invention;
in the figure: 10 is an all-terrain chassis; 20 is a rifle; 30 is a rifle mounting part; 40 is a rifle control part; 50 is a rifle firing part; 401 is a rifle control motor; 402 is a first step gun carousel; 403 is a second gun turntable; 404, 405 are rifle bars; 301, 302 are rifle arms; 303, 304 are rifle splints; 305, 306 are rifle cleat rotating shafts; 307 is a hand guard support; 308 is a stock support; 501 is a rifle firing bar; 502 is a first electromagnet; 503 is a second electromagnet; 1 is a vehicle body; 2 is a wheat wheel mechanism; 3 is a crawler mechanism; 4 is a switching mechanism; 21 is a Mecanum wheel; 22 is a wheat wheel shaft; 23 is a wheat wheel bearing; 24 is a wheat wheel motor frame; 25 is a wheat wheel motor; 31 is a crawler belt; 32 is a track drive wheel assembly; 33 is a track bump wheel assembly; 34 is a track shock-absorbing wheel assembly; 35 is a crawler connecting shaft assembly; 36 is a track link plate assembly; 37 is a tension wheel; 41 is a frame body; 42 is an electric push rod; 43 is a guide rail; 44 is a slide block; 311 is a horizontal bar; 321 is a crawler driving wheel mounting plate; 322 is a caterpillar driving wheel transmission part; 323 is a caterpillar driving wheel motor; 324 is a track drive wheel; 331 is a first anti-collision wheel; 332 is a second crash wheel; 333 is an anti-collision wheel mounting plate; 334 is a crash wheel bumper; 341 is a first damping wheel group; 342 is a second damping wheel group; 343 is a shock absorber; 344 is a first shock absorbing movable plate; 345 is a second shock absorbing movable plate; 361 is a second buffer mounting hole; 362 is a track link plate; 3221 is a driving synchronizing wheel; 3222 is a driving synchronizing wheel; 3223 is a synchronous belt; 3331, 3332 are bump wheel mounting blocks; 3333 is a first buffer mounting hole; 3401 is a mounting hole of a damping wheel set; 3402 is a mounting hole of the shock absorption buffer; 3403 is a mounting hole of a damping movable plate; 3404 is a damping wheel mounting plate; 3405 is a first damping wheel; 3406 is a second shock absorbing wheel.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The first embodiment,
The structure of the robot for controlling rifle shooting of the present embodiment includes, as shown in fig. 1 to 22: an all-terrain chassis 10, a rifle 20, a rifle mounting 30, a rifle control 40, a rifle firing 50 and a control system;
the rifle 20 is fixed on the rifle mounting part 30, and the rifle mounting part 30 and the all-terrain chassis 10 enable the all-terrain chassis 10 to offset recoil force generated by shooting of the rifle 20;
the rifle control part 40 is fixed on the all-terrain chassis 10, is connected with the rifle mounting part 30 and can control the rifle 20 to aim upwards or downwards under the instruction of a control system;
the rifle firing part 50 is fixed on the rifle mounting part 30 and can trigger the rifle 20 under the instruction of the control system;
the steering system also controls the travel of the all terrain chassis 10 in either direction.
The rifle mounting part 30 comprises rifle arms 301, 302, rifle cleats 303, 304, rifle cleat spindles 305, 306, a hand guard bracket 307 and a butt bracket 308;
the rifle arms 301, 302 are fixed on the all-terrain chassis 10, and the rifle clamps 303, 304 are movably arranged on the rifle arms 301, 302 through rifle clamp rotating shafts 305, 306;
the hand-guard bracket 307 and the gunstock bracket 308 are respectively fixed at two ends of the two-step gun clamping plates 303 and 304;
the rifle 20 is clamped between the two rifle clamps 303, 304, the lower hand guard of the rifle 20 is held by the hand guard bracket 307, the butt of the rifle 20 is held by the butt bracket 308, and the rifle 20 is fixed on the rifle mounting part 30.
The muzzle is up when the rifle bar spindles 305, 306 are rotated clockwise and down when the rifle bar spindles 305, 306 are rotated counterclockwise.
The rifle control part 40 comprises a rifle control motor 401, a first rifle turntable 402, a second rifle turntable 403 and rifle turning bars 404, 405;
a rifle control motor 401 is fixed on the all-terrain chassis 10 and can drive a first rifle turntable 402 to rotate;
the first rifle turntable 402 is fixed with a rifle control motor 401, and the second rifle turntable 403 is fixed with rifle clamp plate rotating shafts 305 and 306;
the first end or the second end of the rifle rotating rods 404 and 405 are respectively movably connected with the first end or the second end of the first rifle rotating disk 402 or the second rifle rotating disk 403, so that a movable parallelogram is formed among the rifle rotating rods 404 and 405, the first rifle rotating disk 402 and the second rifle rotating disk 403, and the effect of a hinge four-bar mechanism is achieved;
when the rifle control motor 401 drives the first rifle rotating disc 402 to rotate by a certain angle, the two rifle rotating rods 404 and 405 vertically ascend and descend, the vertically ascending rifle rotating rod pushes one end of the second rifle rotating disc upwards, and the vertically descending rifle rotating rod pulls the other end of the second rifle rotating disc to descend, so that the effect of driving one rifle rotating rod 404 and 405 is achieved.
The rifle firing part 50 comprises a rifle firing bar 501, a first electromagnet 502 and a second electromagnet 503;
the rifle firing bar 501 runs through in front of the trigger of the rifle 20, the first electromagnet 502 and the second electromagnet 503 are respectively fixed at two ends of the rifle firing bar 501, and the first electromagnet 502 and the second electromagnet 503 can synchronously push the rifle firing bar 501 to move, so that the rifle firing bar 501 can rapidly and stably trip the trigger to fire the rifle 20.
The all-terrain chassis 10 comprises a vehicle body 1, a wheat wheel mechanism 2, a crawler mechanism 3 and a switching mechanism 4;
the crawler mechanisms 3 are arranged on two sides of the vehicle body 1, and the crawler mechanisms 3 can independently control the chassis to move in any direction;
the switching mechanism 4 is installed at the bottom of the vehicle body 1, the wheat wheel mechanism 2 is installed on the switching mechanism 4, the switching mechanism 4 can control the wheat wheel mechanism 2 to ascend or descend, and the wheat wheel mechanism 2 can independently control the chassis to move in any direction.
When the switching mechanism 4 drives the wheat wheel mechanism 2 to descend, the wheat wheel mechanism 2 supports the whole chassis upwards to enable the crawler mechanism 3 to be lifted off the ground, and the chassis is driven by the wheat wheel mechanism 2 to move forwards;
when the switching mechanism 4 drives the wheat wheel mechanism 2 to ascend, the wheat wheel mechanism 2 moves upwards to enable the wheat wheel mechanism 2 to be separated from the ground, the crawler mechanism 3 is in contact with the ground, and the chassis is driven by the crawler mechanism 3 to move forwards;
the switching mechanism 4 includes a frame 41, an electric push rod 42, a guide rail 43, and a slider 44;
the mechanism of the wheat wheel mechanism 2 is arranged on the frame body 41;
the first end of the electric push rod 42 is fixed with the vehicle body 1, the second end is fixed with the frame body 41, the wheat wheel mechanism 2 descends when the electric push rod 42 pushes the frame body 41 downwards, and the wheat wheel mechanism 2 ascends when the electric push rod 42 is recovered;
the guide rail 43 is in sliding fit with the slider 44, the guide rail 43 is mounted on the frame 41, and the slider 44 is mounted on the vehicle body 1; the electric push rod 42 and the guide rail 43 are arranged in parallel, and the electric push rod 42 is more stable in the pushing process through the matching of the guide rail 43 and the sliding block 44.
The wheat wheel mechanism 2 comprises a Mecanum wheel 21, a wheat wheel shaft 22, a wheat wheel bearing 23, a wheat wheel motor frame 24 and a wheat wheel motor 25;
the Mecanum wheel 21, the wheat wheel shaft 22, the wheat wheel bearing 23, the wheat wheel motor frame 24 and the wheat wheel motor 25 are all coaxially arranged, and the wheat wheel bearing 23 and the wheat wheel motor frame 24 are fixed with the frame body 41;
the wheat wheel shaft 22 penetrates through the Mecanum wheel 21 and is fixed with the wheat wheel motor 25, the wheat wheel bearings 23 are installed at two ends of the wheat wheel shaft 22, after the wheat wheel bearings 23 are fixed with the frame body 41, the Mecanum wheel 21 is movably installed on the frame body 41;
the wheat wheel motor 25 is fixed with the wheat wheel motor frame 24, the front output shaft of the wheat wheel motor 25 is connected with the wheat wheel shaft 22, and the rotation of the wheat wheel motor 25 can drive the Mecanum wheel 21 to rotate.
The track mechanism 3 includes a track 31, a track drive wheel assembly 32, a track bump wheel assembly 33, a track shock wheel assembly 34, a track link shaft assembly 35, and a track web assembly 36;
the track link shaft assembly 35 extends through the track link assembly 36, and a second end of the track link assembly 36 is fixed to the vehicle body 1 to maintain the track link assembly 36 in a fixed position relative to the vehicle body 1;
the track drive wheel assembly 32 is mounted to a second end of the track attachment plate assembly 36, the track drive wheel assembly 32 driving the track 31 to move the track mechanism 3;
the track anti-collision wheel assembly 33 is movably arranged at the first end of the track connecting plate assembly 36, and when the front surface of the track mechanism 3 is impacted, the impact force of the track anti-collision wheel assembly 33 on the front surface is relieved;
the track shock absorption wheel assembly 34 is movably mounted on the track connecting shaft assembly 35; and track damper wheel assembly 34 is able to rotate on track link shaft assembly 35, allowing lever movement of track damper wheel assembly 34 relative to track web assembly 36,
when the chassis is driven on uneven ground, the track damper wheel assembly 34 swings at the track link shaft assembly 35, thereby damping vibrations;
the track 31 surrounds the track driving wheel assembly 32, the track anti-collision wheel assembly 33 and the track damping wheel assembly 34, and the inner ring of the track 31 is tangent to the track driving wheel assembly 32, the track anti-collision wheel assembly 33 and the track damping wheel assembly 34; and is driven by the track drive wheel assembly 32 to rotate about the track drive wheel assembly 32, the track bump wheel assembly 33, and the track damper wheel assembly 34.
The track drive assembly 32 includes a track drive mounting plate 321, a track drive transmission 322, a track drive motor 323, and a track drive 324;
a first end of the track drive wheel mounting plate 321 is fixed to a second end of the track web assembly 36, and the track drive wheel 324 is movably mounted to the second end of the track drive wheel mounting plate 321;
the crawler driving wheel motor 323 is in transmission connection with the crawler driving wheel 324 through a crawler driving wheel transmission member 322;
after the track drive motor 323 drives the track drive 324 to rotate via the track drive transmission 322, the track drive 324 drives the track 31 to rotate.
The driving wheel transmission element 322 is a synchronous pulley assembly, and comprises a driving synchronous wheel 3221, a transmission synchronous wheel 3222 and a synchronous belt 3223; the synchronous belt 3223 is sleeved on the driving synchronous wheel 3221 and the transmission synchronous wheel 3222;
the transmission ratio between the driving synchronizing wheel 3221 and the driving synchronizing wheel 3222 is 6: 1;
the track drive wheel motor 323 is transmitted to the track drive wheel 324 after being decelerated by the driving synchronizing wheel 3221 and the driving synchronizing wheel 3222.
Track bump wheel assembly 33 includes a first bump wheel 331, a second bump wheel 332, a bump wheel mounting plate 333, and a bump wheel bumper 334;
the first end of the anti-collision wheel mounting plate 333 is provided with two anti-collision wheel mounting blocks 3331 and 3332, and the circle center connecting line of the two anti-collision wheel mounting blocks 3331 and 3332 is inclined with the central line of the main body of the anti-collision wheel mounting plate 333;
the first anti-collision wheel 331 and the second anti-collision wheel 332 are mounted on the two anti-collision wheel mounting blocks 3331, and after 3332, an included angle of 60 degrees is formed between the excircle common tangent of the first anti-collision wheel 331 and the excircle common tangent of the second anti-collision wheel 332 and the ground horizontal line, so that the first anti-collision wheel 331 forms the foremost position of the crawler 3.
A second end of the crash wheel mounting plate 333 is movably connected to a first end of the track web assembly 36;
a first buffering mounting hole 3333 is formed in the extending direction of the second end of the anti-collision wheel mounting plate 333 towards the first end, a second buffering mounting hole 361 is formed in the extending direction of the first end of the track connecting plate assembly 36 towards the second end, and two ends of the anti-collision wheel buffer 334 are movably connected with the first buffering mounting hole 3333 and the second buffering mounting hole 361 respectively; prying the bump wheel mounting plate 333 upward causes the bump wheel mounting plate 333 and the track web assembly 36 to squeeze the bump wheel bumper 334 toward one another.
When the crawler 3 is impacted, the first anti-collision wheel 331 is firstly impacted, and at this time, the anti-collision wheel mounting plate 333 is pried upwards under the action of the impact force to extrude the anti-collision wheel buffer 334, and the impact force is decomposed under the action of the anti-collision wheel buffer 334.
The track shock-absorbing wheel assembly 34 includes a first shock-absorbing wheel group 341, a second shock-absorbing wheel group 342, a shock-absorbing bumper 343, a first shock-absorbing movable plate 344, and a second shock-absorbing movable plate 345;
the first and second shock absorbing movable plates 344 and 345 have a triangular shape, and three corners are respectively provided with a shock absorbing wheel set mounting hole 3401, a shock absorbing bumper mounting hole 3402 and a shock absorbing movable plate mounting hole 3403;
the first shock absorbing movable plate 344 and the second shock absorbing movable plate 345 are symmetrically arranged and movably sleeved on the track connecting shaft assembly 35 through respective shock absorbing movable plate mounting holes 3403 to form a scissor assembly,
both ends of the shock absorber 343 are movably connected to the shock absorber mounting holes 3402 of the first shock absorbing movable plate 344 and the second shock absorbing movable plate 345, respectively, so that the first shock absorbing movable plate 344 and the second shock absorbing movable plate 345 are linked;
the first shock-absorbing wheel set 341 is movably mounted on the shock-absorbing wheel set mounting hole 3401 of the first shock-absorbing movable plate 344 and can perform a lever motion on the first shock-absorbing movable plate 344;
the second shock-absorbing wheelset 342 is movably installed on the shock-absorbing wheelset installation hole 3401 of the second shock-absorbing movable plate 345 and can perform a lever motion on the second shock-absorbing movable plate 345.
The first and second shock-absorbing wheel groups 341 and 342 each include a shock-absorbing wheel mounting plate 3404, a first shock-absorbing wheel 3405, and a second shock-absorbing wheel 3406;
a first shock-absorbing wheel 3405 and a second shock-absorbing wheel 3406 are movably installed at both ends of the shock-absorbing wheel installation plate 3404.
The middle of the damping wheel mounting plate 3404 is provided with a bolt shaft through and mounted on the damping wheel set mounting hole 3401;
when the track mechanism 3 encounters a concave-convex ground surface, the first damping wheel set 342 and the second damping wheel set 342 swing with the damping wheel set mounting hole 3401 as a fulcrum and push the respective first damping movable plate 344 and the second damping movable plate 345 upward, and the first damping movable plate 344 and the second damping movable plate 345 press the damping bumper 343 when moving upward, thereby resolving the vibration.
Crawler 3 is very high when marcing the vibration frequency, and consequently to the wearing and tearing of buffer comparatively more severe, for the wearability that improves the buffer, crashproof wheel buffer 334 and shock attenuation buffer 343 select for use hydraulic buffer usually, and this type of buffer has higher wearability for spring damper, can the whole life of effectual improvement crawler 3.
As shown in fig. 29 to 30, the stair climbing device can freely switch to adapt to all terrains through the wheat wheel mechanism 2 and the crawler mechanism 3 and has a stair climbing function;
be provided with on the excircle of track 31 with track 31 girth direction vertically horizontal bar 311, when crawler 3 marchd to stair, because the excircle common tangent line of first anticollision wheel 331 and second anticollision wheel 332 is 60 contained angles with ground water flat line, consequently track 31 also becomes the oblique state for the step, and track 31 can not be the skid of parallel state with the step this moment, and the step can be caught on horizontal bar 311, makes crawler 3 accomplish the climbing to the step.
To increase the climbing force, an idler 37 may be further provided on the inner side of the track 31 for increasing the friction force of the track 31 with each wheel set.
The track web assembly 36 is also typically assembled from two identical track webs 362 for stability of installation.
The control system comprises a main control board unit, a motor driving unit, a display unit, a remote control unit, an electric push rod control unit and an electromagnet control unit;
the main control board unit is electrically connected with the motor driving unit, the electric push rod control unit and the electromagnet control unit;
the main control board unit is in wireless communication connection with the display unit and the remote control unit;
the remote control unit can send a control instruction to the main control board unit;
the main control board unit can send the received control instruction to the motor driving unit or the electromagnet control unit.
A camera is arranged between the sight and the target of the rifle 20, the camera is electrically connected with the main control board unit, the main control board unit can transmit a visual image shot by the camera to the display unit for display, and a soldier sends a control instruction to the main control board unit through the remote control unit according to the implementation condition shot by the camera;
when the robot needs to travel rapidly, a soldier controls the remote control unit to send a command for switching the wheat wheel mechanism 2 to the main control board unit, the main control board unit receives the command and then sends a command for starting the electric push rod to the electric push rod control unit, the electric push rod control unit controls the electric push rod 42 to push the wheat wheel mechanism 2 downwards, the whole robot is supported by the wheat wheel mechanism 2, the crawler mechanism 3 is enabled to be lifted off the ground, and at the moment, the robot can travel rapidly through the Mecanum wheel 21;
when the robot needs to stably move on a bumpy road section, a soldier controls the remote control unit to send a command for switching and sending the crawler mechanism 3 to the main control board unit, the main control board unit sends a command for starting the electric push rod to the electric push rod control unit after receiving the command, the electric push rod control unit controls the electric push rod 42 to upwards retract the crawler mechanism 2, the crawler mechanism 2 is lifted off the ground, the crawler mechanism 3 is made to contact the ground, and the robot can stably move through the crawler mechanism 3;
when aiming is needed, a soldier controls the remote control unit to send an aiming instruction to the main control board unit, the main control board unit automatically determines the position of a target according to visual information shot by the camera, sends an instruction to the motor driving units corresponding to the motors, determines the left and right positions of a muzzle on the target through left and right rotation of the chassis of the all-terrain chassis 10, and adjusts the rifle mounting part 30 up and down through the rifle control part 40 to determine the up and down positions of the muzzle on the target until the muzzle is adjusted to the target position.
When firing is needed, a soldier controls the remote control unit to send a firing instruction to the main control board unit, the main control board unit sends an instruction to the electromagnet control unit, the electromagnet control unit controls the first electromagnet 502 and the second electromagnet 503 to make and break current instantly, the first electromagnet 502 and the second electromagnet 503 push the rifle firing rod 501 and then draw back the rifle firing rod 501 instantly, the single-shot effect is achieved, and accidental injury caused by continuous shooting is avoided.
Example II,
The main control board unit can be also provided with an SD card for storing visual information shot by the camera and control information of soldiers.
The robot can also realize automatic positioning through means of program programming, coordinate information of a target is input on the main control board unit, the robot automatically selects a reasonable traveling line to run to a reasonable design position according to visual information shot by the camera, the robot automatically aims at the target, and single shooting is realized according to the shooting mode of the first embodiment.
The above is only a preferred embodiment of the present invention, and it should be noted that for soldiers in the technical field, several improvements and modifications can be made without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.
Claims (4)
1. A robot for controlling rifle firing, comprising: the all-terrain rifle comprises an all-terrain chassis (10), a rifle (20), a rifle mounting part (30), a rifle control part (40), a rifle firing part (50) and a control system; the rifle (20) is fixed on the rifle mounting part (30), and the rifle mounting part (30) is fixed with the all-terrain chassis (10), so that the all-terrain chassis (10) can counteract recoil force generated by shooting of the rifle (20);
the rifle control part (40) is fixed on the all-terrain chassis (10), and the rifle firing part (50) is fixed on the rifle mounting part (30);
the control system also controls the all-terrain chassis (10) to travel in any direction;
the all-terrain chassis comprises a vehicle body (1), a wheat wheel mechanism (2), a crawler mechanism (3) and a switching mechanism (4);
when the control system determines a shooting target, the left and right positions of the muzzle of the rifle (20) can be determined through the left and right rotation of the all-terrain chassis (10), and the up and down positions of the muzzle of the rifle (20) are determined through the up and down adjustment of the rifle mounting part (30) by the rifle control part (40);
the rifle mounting part (30) comprises rifle support arms (301, 302), rifle clamp plates (303, 304), rifle clamp plate rotating shafts (305, 306), a hand guard support (307) and a butt support (308);
the rifle arms (301, 302) are fixed on the all-terrain chassis (10), and the rifle clamps (303, 304) are movably mounted on the rifle arms (301, 302) through rifle clamp rotating shafts (305, 306);
the hand guard bracket (307) and the butt stock bracket (308) are respectively fixed at two ends of the two rifle splints (303, 304), the hand guard bracket (307) is used for supporting a lower hand guard of the rifle (20), and the butt stock bracket (308) is used for supporting a butt stock of the rifle (20);
the rifle control part (40) comprises a rifle control motor (401), a first rifle turntable (402), a second rifle turntable (403) and rifle rotating rods (404, 405);
the rifle control motor (401) is fixed on the all-terrain chassis (10) and can drive the first rifle turntable (402) to rotate;
the first rifle rotating disc (402) is fixed with the rifle control motor (401), and the second rifle rotating disc (403) is fixed with the rifle clamp rotating shafts (305, 306);
when the rifle strap rotating shaft (305, 306) rotates clockwise, the muzzle is upward, and when the rifle strap rotating shaft (305, 306) rotates anticlockwise, the muzzle is downward;
the first end or the second end of the rifle rotating rod (404, 405) is movably connected with the first end or the second end of the first rifle rotating disk (402) or the second rifle rotating disk (403) respectively, so that a movable parallelogram is formed among the rifle rotating rod (404, 405), the first rifle rotating disk (402) and the second rifle rotating disk (403);
when a rifle control motor (401) drives a first rifle turntable (402) to rotate for a certain angle, one rod of rifle rotating rods (404, 405) vertically rises and the other rod vertically falls, the vertical rising upwards pushes one end of a second rifle turntable (403), and the vertical falling pulls the other end of the second rifle turntable (403) to fall;
when firing is needed, a control system controls a rifle firing part (50) to trigger a trigger of the rifle (20) to shoot;
the rifle firing part (50) comprises a rifle firing rod (501), a first electromagnet (502) and a second electromagnet (503);
the rifle firing rod (501) penetrates through the front of a trigger of the rifle (20), the first electromagnet (502) and the second electromagnet (503) are respectively fixed at two end parts of the rifle firing rod (501), and the first electromagnet (502) and the second electromagnet (503) can synchronously push the rifle firing rod (501) to move;
the crawler mechanisms (3) are arranged on two sides of the vehicle body (1), and the crawler mechanisms (3) can independently control the chassis to move in any direction;
the switching mechanism (4) is arranged at the bottom of the vehicle body (1), the wheat wheel mechanism (2) is arranged on the switching mechanism (4), the switching mechanism (4) can control the wheat wheel mechanism (2) to ascend or descend, and the wheat wheel mechanism (2) can support the whole chassis to the ground of the crawler mechanism (3) when the wheat wheel mechanism (2) is driven to descend;
the switching mechanism (4) comprises a frame body (41), an electric push rod (42), a guide rail (43) and a sliding block (44);
the wheat wheel mechanism (2) can independently control the chassis to move in any direction;
the wheat wheel mechanism (2) comprises a Mecanum wheel (21), a wheat wheel shaft (22), a wheat wheel bearing (23), a wheat wheel motor frame (24) and a wheat wheel motor (25);
the Mecanum wheel (21), the wheat wheel shaft (22), the wheat wheel bearing (23), the wheat wheel motor frame (24) and the wheat wheel motor (25) are all coaxially arranged, and the wheat wheel bearing (23) and the wheat wheel motor frame (24) are both fixed with the frame body (41);
the wheat wheel shaft (22) penetrates through the Mecanum wheel (21) and is fixed with the wheat wheel motor (25), and the wheat wheel bearings (23) are installed at two ends of the wheat wheel shaft (22);
the wheat wheel motor (25) is fixed with the wheat wheel motor frame (24), and a front output shaft of the wheat wheel motor (25) is connected with the wheat wheel shaft (22);
the crawler mechanism (3) comprises a crawler (31), a crawler driving wheel assembly (32), a crawler anti-collision wheel assembly (33), a crawler damping wheel assembly (34), a crawler connecting shaft assembly (35) and a crawler connecting plate assembly (36);
the track connecting shaft assembly (35) penetrates through the track connecting plate assembly (36) and is fixed with the vehicle body (1);
the track drive wheel assembly (32) is mounted to a second end of the track link plate assembly (36) for driving the track mechanism (3);
the track anti-collision wheel assembly (33) is movably mounted at a first end of the track connecting plate assembly (36), and the track anti-collision wheel assembly (33) can buffer the impact force of the front surface;
the track shock absorption wheel assembly (34) is movably mounted on the track connecting shaft assembly (35), and the track shock absorption wheel assembly (34) can rotate on the track connecting shaft assembly (35), so that the track shock absorption wheel assembly (34) does lever motion relative to the track connecting plate assembly (36) and shocks generated by concave-convex ground are buffered;
the track (31) surrounds the track driving wheel assembly (32), the track anti-collision wheel assembly (33) and the track shock absorption wheel assembly (34) and rotates around the track driving wheel assembly (32), the track anti-collision wheel assembly (33) and the track shock absorption wheel assembly (34) under the driving of the track driving wheel assembly (32);
the wheat wheel mechanism (2) is arranged on the frame body (41);
the first end of the electric push rod (42) is fixed with the vehicle body (1), the second end of the electric push rod is fixed with the frame body (41), and the electric push rod (42) can push the frame body (41) downwards;
the guide rail (43) is in sliding fit with the sliding block (44), the guide rail (43) is installed on the frame body (41), and the sliding block (44) is installed on the vehicle body (1);
the electric push rod (42) and the guide rail (43) are arranged in parallel;
when the robot needs to travel rapidly, an instruction for switching the wheat wheel mechanism (2) is sent through the control system, the electric push rod control unit starts the electric push rod (42), the electric push rod (42) pushes the wheat wheel mechanism (2) downwards, the whole robot is supported by the wheat wheel mechanism (2), the crawler mechanism (3) is lifted off the ground, and the robot can travel rapidly through the Mecanum wheel (21);
when the robot needs to stably travel on a bumpy road section, an instruction for switching the crawler mechanisms (3) is sent through the control system, the electric push rod control unit starts the electric push rod (42), the electric push rod (42) upwards retracts the wheat wheel mechanisms (2), the wheat wheel mechanisms (2) are separated from the ground, the crawler mechanisms (3) are in contact with the ground, and the robot can stably travel through the crawler mechanisms (3);
transverse strips (311) vertical to the circumferential direction of the crawler belt (31) are uniformly distributed on the outer circle of the crawler belt (31);
the crawler driving wheel assembly (32) comprises a crawler driving wheel mounting plate (321), a crawler driving wheel transmission member (322), a crawler driving wheel motor (323) and a crawler driving wheel (324);
the first end of the track driving wheel mounting plate (321) is fixed with the second end of the track connecting plate component (36), and the track driving wheel (324) is movably mounted at the second end of the track driving wheel mounting plate (321);
the crawler driving wheel motor (323) is in transmission connection with the crawler driving wheel (324) through the crawler driving wheel transmission part (322) and can drive the crawler driving wheel (324) to rotate;
the track anti-collision wheel assembly (33) comprises a first anti-collision wheel (331), a second anti-collision wheel (332), an anti-collision wheel mounting plate (333) and an anti-collision wheel buffer (334);
the first end of the anti-collision wheel mounting plate (333) is provided with two anti-collision wheel mounting blocks (3331, 3332), and a circle center connecting line of the two anti-collision wheel mounting blocks (3331, 3332) is inclined with the central line of the main body of the anti-collision wheel mounting plate (333);
after the first anti-collision wheel (331) and the second anti-collision wheel (332) are installed on the two anti-collision wheel installation blocks (3331, 3332), the common tangent of the outer circles of the first anti-collision wheel (331) and the second anti-collision wheel (332) forms an included angle of 60 degrees with the horizontal line of the ground;
the second end of the anti-collision wheel mounting plate (333) is movably connected with the first end of the track connecting plate component (36);
a first buffering mounting hole (3333) is formed in the extending direction of the second end of the anti-collision wheel mounting plate (333) to the first end, a second buffering mounting hole (361) is formed in the extending direction of the first end of the track connecting plate component (36) to the second end, and two ends of the anti-collision wheel buffer (334) are movably connected with the first buffering mounting hole (3333) and the second buffering mounting hole (361) respectively;
the track damping wheel assembly (34) comprises a first damping wheel set (341), a second damping wheel set (342), a damping buffer (343), a first damping movable plate (344) and a second damping movable plate (345);
the first shock absorption movable plate (344) and the second shock absorption movable plate (345) are both triangular, and shock absorption wheel set mounting holes (3401), shock absorption buffer mounting holes (3402) and shock absorption movable plate mounting holes (3403) are respectively formed in three corners;
the first shock absorption movable plate (344) and the second shock absorption movable plate (345) are symmetrically arranged and movably sleeved on the crawler connecting shaft assembly (35) through respective shock absorption movable plate mounting holes (3403);
the two ends of the shock absorber (343) are movably connected with the shock absorber mounting holes (3402) of the first shock absorber movable plate (344) and the second shock absorber movable plate (345) respectively, so that the first shock absorber movable plate (344) and the second shock absorber movable plate (345) are linked;
the first damping wheel set (341) is movably mounted on the damping wheel set mounting hole (3401) of the first damping movable plate (344) and can perform lever motion on the first damping movable plate (344);
the second shock absorption wheel set (342) is movably mounted on the shock absorption wheel set mounting hole (3401) of the second shock absorption movable plate (345) and can perform lever motion on the second shock absorption movable plate (345);
the first damping wheel group (341) and the second damping wheel group (342) comprise damping wheel mounting plates (3404), first damping wheels (3405) and second damping wheels (3406);
the first shock absorption wheel (3405) and the second shock absorption wheel (3406) are movably arranged at two ends of the shock absorption wheel mounting plate (3404);
the track driving wheel transmission part (322) is a synchronous pulley component and comprises a driving synchronous wheel (3221), a transmission synchronous wheel (3222) and a synchronous belt (3223);
the transmission ratio between the driving synchronizing wheel (3221) and the transmission synchronizing wheel (3222) is 6: 1.
2. a robot for controlling rifle shots as claimed in claim 1, characterized in that the crash wheel bumper (334) and the shock absorber (343) are both hydraulic bumpers.
3. A robot for controlling rifle shooting according to claim 2, wherein the manipulation system comprises a main control board unit, a motor driving unit, a display unit, a remote control unit, an electromagnet control unit;
the motor driving unit and the electromagnet control unit are electrically connected with the main control board unit;
the display unit and the remote control unit are in wireless communication connection with the main control board unit;
the remote control unit can send a control instruction to the main control board unit;
the main control board unit can send the received control instruction to the motor driving unit or the electromagnet control unit.
4. The robot for controlling rifle shooting as claimed in claim 3, characterized in that a camera is mounted between the sight and the target of the rifle (20), said camera is electrically connected to the main control board unit, and the main control board unit can transmit the visual image captured by the camera to the display unit for display.
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CN112066792A (en) * | 2020-08-13 | 2020-12-11 | 南京理工大学 | A pistol emitter for wearable outer limbs of intelligence |
CN114719672B (en) * | 2022-05-26 | 2023-06-20 | 西安航空学院 | Multifunctional individual soldier simulation combat platform with mecanum wheel |
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CN103770634A (en) * | 2014-01-22 | 2014-05-07 | 中国人民解放军国防科学技术大学 | Single-person all-terrain crawler-type moving carrier |
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