The invention discloses a lower ammunition feeding holder device and a
robot, and relates to the technical field of ammunition feeding, the lower ammunition feeding holder device comprises a launching mechanism, a spring tube, a rotary support frame and a ball shifting
assembly, a ball guide channel is arranged in the rotary support frame, the spring tube connects the launching mechanism with the ball guide channel, and the spring tube can be matched with the angle change of the launching mechanism to generate deformation; the two ends of the spring tube are fixed in the first fixing piece and the second fixing piece through the embedded hole positions, the upper protrusion and the lower protrusion of the first fixing piece and the tensioning piece are used for fixing and clamping the spring, the inner notch of the second fixing piece provides a transition space for deformation of the spring tube, and the inverted arc face prevents the spring from being squeezed to cause clamping and bouncing. A spiral guide rail of the ball shifting
assembly and shifting teeth with columnar concave faces achieve single-grain and orderly supply of the projectiles, and the problems that in an existing
projectile supply device, the center of gravity of a holder is high, the
reaction speed is low, the structure is redundant,
energy consumption is high, the launching precision is low, the launching angle range is small, and the projectiles are prone to being clamped are solved.