CN210741262U - A robot target - Google Patents

Abstract

The utility model relates to the technical field of shooting training equipment, in particular to a robot target drone, which comprises an intelligent trolley (1), a shooting target component (2) and a lifting drive component (3) for driving the shooting target component (2) to fall down and stand up, wherein the lifting drive component (3) is fixed on the intelligent trolley (1), the robot target drone also comprises a mounting seat (6), the shooting target component (2) is vertically arranged on the mounting seat (6), the lifting drive component (3) is in driving connection with the mounting seat (6), a rotary drive component (7) for driving the shooting target component (2) to rotate is fixed on the mounting seat (6), so that the intelligent trolley can be ensured to automatically change according to the track of the movement when moving, the shooting target component also correspondingly rotates, thereby ensuring that the target surface always faces the shooting trainer when the intelligent trolley moves, is beneficial to the continuous shooting training.

Description

A robot target

technical field

The utility model relates to the technical field of shooting training equipment, in particular to a robot target drone.

Background technique

In the shooting training, the target machine is often used to simulate the enemy. The shooting trainer shoots at the target surface of the target machine, and there are target rings on the target surface, and finally get the score of how many rings.

In the prior art, the structure of the target machine is such as an intelligent target-shooting robot disclosed in CN 109163613 A, including an intelligent trolley and a target arranged on the intelligent trolley. Shooting training. However, the above structure still has certain shortcomings: the target on the smart trolley cannot be rotated, that is to say, when the smart trolley moves, there will be a deviation between the target surface of the smart trolley and the shooter, especially when the trolley returns, the target surface is With the back to the shooter, it is inconvenient for the shooting trainer to carry out target training, which adversely affects the target training.

Utility model content

The present invention aims to solve at least one of the above technical problems.

The technical problem to be solved by the utility model is to at least provide a robot target machine that can adjust the angle of the target to facilitate target training.

In order to solve the above-mentioned technical problems, the utility model provides the following technical solutions:

The utility model relates to a robot target machine, comprising an intelligent trolley, a shooting target assembly, and an up-and-down drive assembly for driving the shooting target assembly to fall and stand up. The up-down drive assembly is fixed on the intelligent trolley. The target machine also includes a mounting seat, the shooting target assembly is vertically arranged on the mounting seat, the lifting and falling drive assembly is drivingly connected with the mounting seat, and the mounting seat is fixed with a device for driving the shooting target assembly Rotating rotary drive assembly.

After adopting the above structure, it has at least the following advantages:

The shooting target assembly is vertically arranged on the mounting seat, and the rotary drive assembly can drive the shooting target assembly to rotate, so that the target surface of the shooting target assembly can follow the movement; when the intelligent car moves, the system of the intelligent car can correspond to the movement direction of the car. Control the rotary drive assembly, so that the shooting target assembly rotates according to the movement of the trolley. In this way, it can be ensured that the intelligent trolley automatically changes according to the trajectory of the movement, and the shooting target assembly also rotates accordingly, so as to ensure that the target surface is in the intelligent When the trolley moves, it always faces the side of the shooting trainer, which is beneficial to the continuous shooting training.

Preferably, on the basis of adopting the above technical solution, preferably, it can also have the following technical features:

The intelligent car is provided with a signal processing and controller and a direction measuring module, and the direction measuring module and the rotary drive assembly are all electrically connected with the signal processing and controller;

The direction measuring module is used to monitor the real-time direction information of the smart car, and send the real-time direction information of the smart car to the signal processing and controller;

The signal processing and controller are used to receive the real-time direction information of the smart car, calculate the angle difference between the set direction of the smart car and the real-time direction, and form a rotation control signal to send the angle difference to the rotary drive assembly;

The rotation driving assembly is used for receiving the rotation control signal of the controller and rotating the corresponding angle.

Description of drawings

FIG. 1 is a schematic front view of a robot target machine of the present invention.

FIG. 2 is a schematic side view of a robot target machine of the present invention.

Figure 3 is a communication block diagram of a robot target drone.

FIG. 4 is a schematic diagram of a robot target machine in the initial position.

FIG. 5 is a schematic diagram of the adjustment angle of the drive unit after the movement of a robot target machine.

FIG. 6 is a schematic diagram of a robot target after moving.

in:

1. Intelligent trolley; 2. Shooting target assembly; 3. Lifting and reversing drive assembly; 4. Signal processing and controller; 5. Direction measuring module; 6. Mounting seat; 7. Rotating drive assembly; 8. Camera; 9. Image Identification module; 10, angle sensor; 11, bearing; 12, first motor; 13, first reducer; 14, second motor; 15, second reducer.

Detailed ways

The inventive concepts of the present disclosure will be described below using terms commonly used by those skilled in the art to convey the substance of their work to others skilled in the art. These inventive concepts may, however, be embodied in many different forms and should not be construed as limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of their inclusion to those skilled in the art. It should also be noted that these embodiments are not mutually exclusive. A component, step or element from one embodiment may be assumed to be present or used in another embodiment. The specific embodiments shown and described may be replaced by a wide variety of alternative and/or equivalent implementations without departing from the scope of the embodiments of the present disclosure. This application is intended to cover any adaptations or variations of the embodiments discussed herein. It will be apparent to those skilled in the art that alternative embodiments may be practiced using only some of the described aspects. Specific numbers, materials, and configurations are described herein in the embodiments for purposes of illustration, however, alternative embodiments may be practiced by those skilled in the art without these specific details. In other instances, well-known features may be omitted or simplified in order not to obscure the illustrative embodiments.

Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "provided", "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components. "Fixing" can be welding or fixed connection by screws or bolts, etc. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

1-6, in one embodiment, a robot target machine includes a smart car 1, a shooting target assembly 2, and an up-and-down drive assembly 3 for driving the shooting target assembly 2 to fall and stand up. The drive assembly 3 is fixed on the intelligent trolley 1, and the robot target machine also includes a mounting seat 6, the lifting and falling drive assembly 3 is drivingly connected with the mounting seat 6, and the rotation driving assembly 7 is fixed on the mounting seat 6. On the above, the shooting target assembly 2 is vertically arranged on the rotating shaft of the rotating drive assembly 7. After the rotating drive assembly 7 rotates, the shooting target assembly 2 can be driven to rotate. The seat 6 and the rotary drive assembly 7 and the shooting target assembly 2 rise and fall together, and during the lifting and falling process, the rotary drive assembly 7 can be rotated, so that the target surface of the shooting target assembly 2 can be turned to a set angle, that is, the target is launched. When the target is turned, it can face the shooter, and when the target is falling, the target surface can be turned to be placed horizontally without interfering with the trolley, and the driving shaft of the driving assembly 3 is in the horizontal direction.

The intelligent car 1 is provided with a signal processing and controller 4 and a direction measuring module 5. The direction measuring module 5 and the rotary drive assembly 7 are all electrically connected to the signal processing and controller 4; the direction measuring module 5 can be specifically It is an electronic compass or a GPS dual-antenna navigation and direction finding module, which are all mature technologies.

The direction measuring module 5 is used to monitor the real-time direction information of the smart car 1, and the real-time direction information refers to the real-time north-pointing angle of the smart car 1, and sends the real-time direction information of the smart car 1 to the signal processing and controller. 4;

The signal processing and controller 4 is used to receive the real-time direction information of the smart car 1 and calculate the angle difference between the set direction of the smart car 1 and the real-time direction, and form a rotation control signal to send the angle difference to the smart car 1. Rotation drive component 7; the setting direction of the smart car 1 refers to the manually set angle value of the smart car 1 pointing north.

The rotation driving assembly 7 is used for receiving the rotation control signal of the controller and driving the shooting target assembly 2 to rotate by a corresponding angle.

The signal processing and controller 4 may specifically be a computer or a microprocessor or the like.

The smart car 1 is provided with a camera 8, an image recognition module 9 is integrated in the signal processing and controller 4, and the camera 8 is electrically connected to the image recognition module 9;

The camera 8 is used to obtain the image of the target ring after the shooting target assembly 2 is shot and send the image of the target ring after the shooting to the image recognition module 9;

The image recognition module 9 receives and recognizes the image of the target ring after shooting, and outputs the ring number data of the shooting.

In this way, with the image recognition system, the data of the number of rings of the shooting target assembly 2 after being shot can be easily identified and recorded, and the management is facilitated. Of course, a storage module is integrated in the signal processing and controller 4, and the number of shots output by the image recognition module 9 is stored in the storage module. Of course, the smart car 1 can also be provided with a wireless communication module, and the number of shots output by the image recognition module can be transmitted to the display at the shooting trainer through the wireless communication module.

The mounting seat 6 is provided with an angle sensor 10, the angle sensor 10 is used to detect the rotation angle of the shooting target assembly 2 and send the rotation angle information to the signal processing and controller 4, if the shooting target assembly 2 rotates If the angle is greater than the angle difference between the initial direction of the smart car 1 and the real-time direction, the signal processing and controller 4 sends a stop instruction to the rotary drive assembly 7 . The angle sensor 10 can feed back the rotation angle information of the shooting target assembly 2, so that the signal processing and the control of the controller 4 are more accurate. If the rotation angle of the shooting target assembly 2 is greater than the angle difference between the initial direction of the smart car 1 and the real-time direction, Then the signal processing and controller 4 sends a stop instruction to the rotary drive assembly 7 . Therefore, it can be ensured that the rotation of the shooting target assembly 2 is more intelligent. The signal processing and controller 4 sends a left turn or right turn command to the rotary drive assembly 7 according to the difference between the artificially set direction and the direction of the trolley, so that the shooting target assembly 2 rotates. When the angle of rotation is equal to the Stop after the angle is required to ensure that the shooting target assembly 2 can face the shooter when it is up; it can be placed in the position set by the trolley when it is down.

The intelligent car 1 is provided with a Beidou navigation direction finding system for automatic driving navigation. The smart car 1 adopts the smart car 1 with an automatic driving function in the prior art, and a motion trajectory can be designed in the smart car 1 , and the smart car 1 drives automatically according to the designed motion trajectory.

A bearing 11 is fixed on the mounting seat 6 , and the shooting target assembly 2 is inserted into the bearing 11 . On the one hand, the bearing plays a role of supporting the shooting target assembly 2 , and on the other hand, the bearing also plays a role of facilitating the rotation of the shooting target assembly 2 .

The rotary drive assembly 7 includes a first motor 12 and a first reducer 13 , the first motor 12 is drivingly connected with the first reducer 13 , and the shooting target assembly 2 is connected to the first reducer The drive shaft is fixedly connected. The first motor 12 is electrically connected to the signal processing and controller 4 . The drive shaft of the first reducer 13 is arranged in the vertical direction. The first motor 12 may specifically be a servo motor, a stepping motor, a DC motor, or the like.

The up-down drive assembly 3 includes a second motor 14 and a second reducer 15 , the second reducer 15 is fixed on the smart car 1 , and the second motor 14 and the second reducer 15 are driven connection, the mounting seat 6 is fixedly connected with the drive shaft of the second reducer 15 .

The shooting target assembly 2 includes a target surface and a target rod, the target rod is drivingly connected with the drive shaft of the first motor, and the target surface is fixedly connected to the target rod.

A counterweight is provided below the mounting seat 6 to balance the force of the drive shaft of the reducer 15 .

Working principle: The rotary drive assembly 7 can drive the shooting target assembly 2 to rotate, that is to say, the target surface of the shooting target assembly 2 can rotate along with it;

When the smart car 1 is moving, the direction measuring module 5 is used to monitor the real-time direction information of the smart car 1, and send the real-time direction information of the smart car 1 to the signal processing and controller 4; the signal processing and control The device 4 is used to receive the real-time direction information of the smart car 1 and calculate the angle difference between the set direction of the smart car 1 and the real-time direction, and form a rotation control signal from the angle difference and send it to the rotary drive assembly 7; The rotary drive assembly 7 is used to receive the rotation control signal of the controller and rotate the corresponding angle, so that when the smart car 1 is in motion, it can be automatically changed according to the trajectory of the movement, and the shooting target assembly 4 also rotates accordingly, thereby It is ensured that the target surface always faces the side of the shooting trainer when the smart car 1 moves, which is conducive to the continuous progress of shooting training.

For example, as shown in Figure 4, the arrow on the left in Figure 4 indicates the direction of the shooting side. The set direction of the smart car 1 is the north direction, that is, the set direction is 0 degrees. At this time, the data obtained by the direction measuring module 5 is 0 At this time, the target surface of the shooting target assembly 2 is facing the side of the shooting trainer. As shown in Figure 5, after the smart car 1 moves, for example, it moves to the northeast. The direction measuring module measures the real-time direction of the smart car 1. 10 At this time, the angle difference between the set direction of the smart car 1 and the real-time direction is -10 degrees. At this time, the signal processing and controller send a control signal to the rotary drive assembly 7 to drive the shooting target assembly 2 to rotate by -10 degrees, so that the The shooting target assembly 2 rotates -10 degrees, the rotary drive assembly 7 rotates -10 degrees after receiving the signal, and the angle sensor 10 feeds back the rotation angle information of the shooting target assembly 2. If the rotation angle of the shooting target assembly 2 is equal to -10, the signal The process and controller 4 sends a stop command to the rotary drive assembly 7 . In this way, as shown in Fig. 6, the target surface of the shooting target assembly 2 can be the side facing the shooting trainer to realize the automatic adjustment function, thereby ensuring that the target surface always faces the shooting trainer's side when the smart car 1 moves. It is well known that the shooting target assembly 2 will be provided with a corresponding travel switch to sense the up and down movement.

The above descriptions are only examples of preferred implementations of the present invention, which should not limit the scope of the rights of the present invention. For those skilled in the art, whoever uses the technical solutions and technical ideas of the present invention to make Various other corresponding changes should fall within the protection scope of the claims of the present invention.

Claims (8)

1. A robot target machine, comprising an intelligent trolley (1), a shooting target assembly (2) and an up-and-down drive assembly (3) for driving the shooting target assembly (2) to fall and stand up, the up-down drive assembly (3) being fixed on the intelligent trolley (1), characterized in that the robot target machine further comprises a mounting seat (6), and the shooting target assembly (2) is vertically arranged on the mounting seat (6) Above, the up-and-down drive assembly (3) is drivingly connected with the mounting seat (6), and a rotary drive assembly (7) for driving the rotation of the shooting target assembly (2) is fixed on the mounting seat (6). . 2. according to a kind of robot target machine according to claim 1, it is characterized in that, described intelligent car (1) is provided with signal processing and controller (4) and direction measuring module (5), described direction measuring module (5), the rotary drive assembly (7) is electrically connected with the signal processing and controller (4); The direction measuring module (5) is used for monitoring the real-time direction information of the smart car (1), and sending the real-time direction information of the smart car (1) to the signal processing and controller (4); The signal processing and controller (4) is used to receive the real-time direction information of the smart car (1), calculate the angle difference between the set direction of the smart car (1) and the real-time direction, and form the angle difference into a rotation sending a control signal to the rotary drive assembly (7); The rotation driving assembly (7) is used for receiving the rotation control signal of the controller and driving the shooting target assembly (2) to rotate by a corresponding angle. 3. A kind of robot target machine according to claim 2, is characterized in that, described intelligent car (1) is provided with camera (8), and described signal processing and controller (4) are integrated with image recognition module (9), the camera head (8) is electrically connected with the image recognition module (9); The camera (8) is used for acquiring the image of the target ring after the shooting target assembly (2) is shot and sending the image of the target ring after shooting to the image recognition module (9); The image recognition module (9) receives and recognizes the image of the target ring after shooting, and outputs the ring number data of the shooting. 4. A robot target machine according to claim 2, characterized in that, an angle sensor (10) is provided in the mounting seat (6), and the angle sensor (10) is used to detect the shooting target assembly (2) Rotate the angle and send the rotation angle information to the signal processing and controller (4). If the rotation angle of the shooting target assembly (2) is greater than the angle difference between the initial direction and the real-time direction of the smart car (1), then A signal processing and controller (4) sends a stop command to the rotary drive assembly (7). 5 . The robot target drone according to claim 1 , wherein the intelligent car ( 1 ) is provided with a Beidou navigation direction finding system for automatic driving navigation. 6 . 6 . The robot target machine according to claim 1 , wherein a bearing ( 11 ) is fixed on the mounting seat ( 6 ), and the shooting target assembly ( 2 ) is inserted into the bearing ( 11 ). 7 . )Inside. 7. A robot target machine according to claim 6, characterized in that the rotary drive assembly (7) comprises a first motor (12) and a first reducer (13), the first motor (12) ) is drivingly connected with the first reducer (13), and the shooting target assembly (2) is fixedly connected with the drive shaft of the first reducer (13). 8. A robot target machine according to claim 1, characterized in that, the up-down drive assembly (3) comprises a second motor (14) and a second reducer (15), the second reducer (15) is fixed on the smart car (1), the second motor (14) is drivingly connected to the second reducer (15), and the mounting seat (6) is connected to the second reducer ( 15) The drive shaft is fixedly connected.

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