一种弹射式移动射击机器人的设计  

Design of an Ejection Type Mobile Shooting Robot

作　　者：王家豪 汤凯 陈严 唐家伟 黄丽娟[1] 赵海峰[1] Wang Jiahao;Tang Kai;Chen Yan;Tang Jiawei;Huang Lijuan;Zhao Haifeng(School of Intelligent Manufacturing,Nanjing Vocational College of Information Technology,Nanjing 210023,China)

机构地区：[1]南京信息职业技术学院智能制造学院,南京210023

出　　处：《信息化研究》2022年第5期32-38,共7页INFORMATIZATION RESEARCH

摘　　要：文章针对目前移动射击机器人工作时出现的问题,设计了一种适用于射击目标呈多点位置分布、射击目标数量多及射击场地存在障碍物的弹射式击发的移动射击机器人。首先对机器人系统的整体方案进行设计,确定机器人供弹装置、击发装置、俯仰调节装置和移动底盘结构的设计,然后确定了机器人控制系统的控制方案;最后研制了机器人的样机模型进行性能测试,同摩擦轮式射击机器人进行了对比分析。结果表明,该机器人具备快速瞄准和高准确度击发球弹的能力,设计的轮式供弹装置和弹射式击发装置,提升了机器人单次携弹量和连续工作时的击发精准度,机器人灵活性和协调性好,对竞赛场地适应性强,且工作稳定性高。In view of the problems that occur in the work of the current mobile firing robot,a mobile firing robot with ejection firing is designed for firing targets with multi-point location distribution,a large number of firing targets and the existence of obstacles in the firing site.Firstly,the overall scheme of the robot system was designed to determine the design of the robot ammunition supply device,firing device,pitch adjustment device and mobile chassis structure,and then the control scheme of the robot control system was determined;finally,a prototype model of the robot was developed for performance testing,and a comparative analysis was conducted with the friction wheeled firing robot.The results show that the robot has the ability of fast aiming and high accuracy in firing ball ammunition,and the designed wheel type ammunition supply device and ejection type firing device can improve the robot’s single carrying capacity and firing accuracy in continuous work,and the robot has good flexibility and coordination,adaptable to the competition venue and high working stability.

关 键 词：移动射击机器人 发射系统 弹射式击发装置 供弹装置 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]