Lower bullet supply omnidirectional wheel infantry robot based on Robomaster match
By designing a lower ammunition-feeding omnidirectional infantry robot based on Robomaster competition, the shortcomings of infantry robots in terms of maneuverability and projectile launch accuracy are solved, faster operation response speed and higher projectile reserves are achieved, adapting to the competition's ammunition loading needs, and reducing the vehicle height and gimbal motor position adjustment.
Patent Information
- Application Number
- CN202411921489.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2025-03-14
AI Technical Summary
In the Robomaster competition, infantry robots have insufficient mobility and projectile launch accuracy. The "small gyro" function speed and mobility of traditional Maihuang infantry are insufficient. Due to the reduced supply of projectiles, the traditional infantry supply has faced the problem of insufficient available projectiles.
A lower ammunition supply omnidirectional infantry robot based on Robomaster competition was designed, using an omnidirectional wheel set and an autonomously designed lower ammunition supply mechanism to reduce the moment of inertia of the launching mechanism, improve control accuracy, and improve the stability and passability of the robot through vertical and horizontal superimposed aluminum square chassis structure and parallelogram suspension.
It achieves faster operation response speed, provides sufficient projectile reserves, avoids projectile clamps, ensures the stability and accuracy of the launch mechanism, adapts to the needs of the competition, and reduces the vehicle height and gimbal motor position adjustment.
Smart Images
Figure CN119617965A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of robots, in particular to a bottom-feeding omnidirectional wheeled infantry robot based on the Robomaster competition. Background Art
[0002] In the Robomaster competition, the task of the infantry robot is to launch projectiles to attack and destroy the opponent's robots, while protecting the hero robots used to attack the opponent's base from being destroyed. This requires these infantry robots used in the Robomaster competition to have good mobility and the ability to accurately launch projectiles. At the same time, as a competition based on armor plate hitting as the basic damage principle, the only way to increase the survivability of one's own robots is to reduce the opponent's hit rate as much as possible. Therefore, each team has given the robot a "small gyroscope" function, that is, the robot chassis rotates around itself as the axis. However, due to the power restrictions of the rules and the improvement of the self-aiming level of the major teams, the speed and mobility of the traditional McLennan infantry's "small gyroscope" are no longer sufficient to meet the survival needs of the battlefield. In addition, in the rules of the 24th season, while the number of projectile supply stations is reduced, the number of projectiles that can be supplied is also reduced to 400 rounds, which means that the traditional infantry robots that continue to use the upper ammunition need to face the problem of insufficient available projectiles during the competition. Summary of the invention
[0003] In order to solve at least one technical problem in the background technology, the present invention provides a lower-feeding omnidirectional wheeled infantry robot based on the Robomaster competition. The lower-feeding mechanism can reduce the rotational inertia of the launching mechanism, improve the control accuracy, and provide sufficient projectiles; the launching mechanism can ensure extremely high projectile launching accuracy; the omnidirectional wheel group has a faster speed and better passability than the traditional robot wheel group.
[0004] To achieve the above-mentioned purpose, the present invention provides a lower-feeding omnidirectional wheeled infantry robot based on the Robomaster competition, comprising: a chassis structure, a pan-tilt frame, a rotating structure, and a launching structure; the pan-tilt frame is connected to the rotating structure and fixed on the chassis structure; the launching structure comprises a launching mechanism, a lower-feeding mechanism, and a bullet storage mechanism, the launching mechanism is rotatably mounted on the pan-tilt frame, the bullet storage mechanism and the lower-feeding mechanism are both fixedly connected to the pan-tilt frame, and the launching mechanism is connected to the bullet storage mechanism through the lower-feeding mechanism;
[0005] The chassis structure includes a frame and a wheel set mechanism, and the wheel set mechanism is installed at the bottom of the frame;
[0006] The wheel assembly mechanism includes a shock absorbing system and an omnidirectional wheel assembly. The shock absorbing system includes a parallelogram suspension and a shock absorber. The parallelogram suspension is fixed on the frame, and the shock absorber is fixed on the upper part of the parallelogram suspension. The parallelogram suspension is connected to the omnidirectional wheel assembly through a coupling, a thrust ball bearing and a gasket.
[0007] Furthermore, the launching mechanism is rotatably fixed to the side and front of the top of the gimbal frame, the bullet storage mechanism is fixed to the middle of the gimbal frame, and the lower bullet feeding mechanism is fixed to the left side of the gimbal frame.
[0008] Furthermore, the bullet storage mechanism includes a magazine, a selecting tooth, a bullet ejection tray and a bullet ejection tray connecting plate; the magazine is fixedly connected to the gimbal frame, the bullet ejection tray is fixed to the gimbal frame via the bullet ejection tray connecting plate, the top of the bullet ejection tray is fixedly connected to the bottom of the magazine, the selecting tooth is rotatably fixed in the bullet ejection tray, a bullet ejection motor is installed at the bottom of the bullet ejection tray, and the output shaft of the bullet ejection motor is connected to the selecting tooth.
[0009] Furthermore, the launching mechanism includes a launching barrel, an accelerating barrel, a friction wheel and a projectile chain, wherein the launching barrel, the accelerating barrel and the friction wheel are all mounted on a carbon fiber plate of the launching mechanism, and the projectile chain is a channel structure formed by stacking the plates, and one end of the projectile chain is rotatably fixed on the lower feeding mechanism, and the other end is connected to the launching barrel through the accelerating barrel.
[0010] Furthermore, the lower feeding mechanism includes a straight chain link and a flange bearing of stacked plates; the top port of the straight chain link is rotatably fixed to one end of the projectile link through the flange bearing and is connected to the projectile link; the bottom port of the straight chain track is fixedly connected to the outlet on one side of the ejector plate.
[0011] Furthermore, the launching mechanism is rotatably connected to the gimbal frame through a pitch shaft transmission structure, and the pitch shaft transmission structure includes a pitch shaft bearing, a pitch four-link, a pitch shaft plate and a motor; the pitch shaft plate is fixed on the gimbal frame, one end of the pitch four-link is rotatably connected to the connecting piece through the pitch shaft bearing, and the other end is connected to the output end of the motor, and the projectile chain is installed on the pitch four-link.
[0012] Furthermore, the bottom end of the pan / tilt frame is rotatably fixed on the chassis structure via a rotating structure.
[0013] Furthermore, the transmission structure includes a yaw-axis motor, a yaw-axis bearing, a lower bearing fixing part, an upper bearing fixing part, a motor protection part, a motor anti-loosening sleeve and a conductive slip ring. The yaw-axis motor is fixed on the chassis structure, the top of the upper bearing fixing part is fixedly connected to the pan-tilt frame, the yaw-axis bearing is embedded in the upper bearing fixing part and the lower bearing fixing part, the boss of the lower bearing fixing part is embedded in the yaw-axis bearing, the upper end of the yaw-axis motor is connected and fixed to the motor protection part, and the lower end is fixedly connected to the motor anti-loosening sleeve, the conductive slip ring is embedded inside, and the output end of the yaw-axis motor is connected to the pan-tilt frame.
[0014] Furthermore, the omnidirectional wheel assembly includes a wheel axle, a clamping cover, an outer wheel, an intermediate pad, an inner wheel, a coupling, a gasket and a thrust ball bearing; the wheel axle passes through the outer wheel, the intermediate pad, the inner wheel, the coupling and the gasket in sequence, one end is positioned by the clamping cover, and the other end is positioned by the thrust ball bearing; the parallelogram suspension is connected to the wheel axle through the coupling, the thrust ball bearing and the gasket.
[0015] The beneficial effects of the present invention are:
[0016] 1. The present invention reduces the height of the infantry robot and adjusts the position of the pan / tilt motor, so that the robot can pass through the special terrain "bridge tunnel" in the Robomaster competition, provide tactical support for the competition, reduce the rotational inertia of each rotation axis of the robot, and achieve faster operation response speed. In addition, the present invention adopts a self-designed lower ammunition feeding mechanism, so that the ammunition compartment is no longer directly connected to the launch mechanism, greatly reducing the weight of the launch mechanism, while perfectly utilizing the space in the middle of the pan / tilt frame, providing a storage capacity of 700 rounds of projectiles, which can perfectly adapt to the ammunition loading needs of the competition.
[0017] 2. At the same time, the lower feeding mechanism of the present invention avoids the jamming of the projectile in the conveying link; in addition, after the projectile comes out of the lower feeding mechanism, it enters the launching mechanism through the axis of the pitch axis, so that the launching mechanism will not affect the movement trajectory of the projectile when it moves in the direction of the pitch axis, and also avoids the problem of the change of the center of gravity of the launching mechanism caused by the movement of the pitch axis in the traditional upper feeding mode, ensuring the stability of the action of the launching mechanism. At the same time, this launching mechanism is set at the center of the side of the robot, which will not affect the center of gravity of the robot.
[0018] 3. The link is composed of plates, aluminum columns and bearings. The projectile is pushed out from the bottom to the top by the bullet-pushing plate. The pitch axis design ensures that the gimbal link and the gimbal frame link are always coaxial, which can ensure stable firing during the infantry pitch movement. Bearings are set at the link entry and the upper corner of the link to increase the smoothness of the link.
[0019] 4. A U-shaped bearing is designed for centering at the accelerating barrel of the firing mechanism; at the same time, a stepped step is designed at the hollow shaft of the accelerating barrel to limit the movement of the projectile at the first step to avoid the Magnus effect, that is, the projectile is offset when it moves, so that the projectile is centered when it contacts the U-shaped bearing limit, and avoids contact with any object after leaving the limit contact friction wheel for firing, so as to achieve accurate firing, and the error of the firing point of each projectile is extremely small.
[0020] 5. The present invention adopts a longitudinal and transverse superimposed aluminum square chassis structure. The aluminum square tube is composed of 25*25*1mm. After being connected and fixed with the plate, it can withstand a large impact load and increase the available space of the chassis.
[0021] 6. The present invention adopts a parallelogram suspension and designs a mechanical limit for the suspension travel. The limit is 3D printed with a thickness of 4 mm, has high strength, and has low iteration and maintenance costs. It also has a 20 mm travel, and its compression amount can cope with the bumps generated by the robot when passing through complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 It is the overall axonometric diagram of the present invention;
[0023] Figure 2 It is an axonometric diagram of the launch structure of the present invention;
[0024] Figure 3 This is an axonometric diagram of the pan-tilt stand structure of the present invention;
[0025] Figure 4 It is an exploded view of the bullet storage mechanism of the present invention;
[0026] Figure 5 It is an exploded view of the yaw shaft transmission structure of the present invention;
[0027] Figure 6 This is an axonometric diagram of the chassis structure of the present invention;
[0028] Figure 7 It is an axonometric view of the wheel assembly mechanism of the present invention.
[0029] Among them, in the figure:
[0030] 1. Launching mechanism; 11. Launching barrel; 12. Friction wheel; 13. Accelerating barrel; 14. Projectile chain; 15. Straight chain;
[0031] 2. PTZ frame; 21. Pitch axis motor; 22. Pitch four-link; 23. Pitch axis plate; 24. Pitch axis bearing;
[0032] 3. Magazine mechanism; 31. Magazine; 32. Dial connecting plate; 33. Dial; 16. Dial teeth;
[0033] 4. Yaw shaft structure; 41. Conductive slip ring; 42. Upper bearing fixing piece; 43. Yaw shaft bearing; 44. Lower bearing fixing piece; 45. Motor protection piece; 46. Yaw shaft motor; 47. Motor anti-loosening sleeve;
[0034] 5. Omnidirectional wheel assembly structure; 51. Clamping cover; 52. Outer wheel; 53. Middle pad; 54. Inner wheel; 55. Coupling; 56. Gasket; 57. Thrust ball bearing;
[0035] 6. Chassis structure; 61. Omnidirectional wheel assembly; 62. Parallelogram suspension; 63. Shock absorber. DETAILED DESCRIPTION
[0036] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0038] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.
[0039] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.
[0040] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; 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 it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0041] To achieve the above purpose, Figure 1-7 As shown, the present invention provides a lower-feeding omnidirectional wheeled infantry robot based on the Robomaster competition, comprising: a chassis structure 5, a pan-tilt frame 2, a rotating structure 4, and a launching structure 1; the pan-tilt frame 3 is connected to the rotating structure 4 and fixed on the chassis structure 5; the launching structure 1 comprises a launching mechanism, a lower-feeding mechanism and a bullet storage mechanism, the launching mechanism is rotatably mounted on the pan-tilt frame 3, the bullet storage mechanism and the lower-feeding mechanism are both fixedly connected to the pan-tilt frame 3, and the launching mechanism is connected to the bullet storage mechanism through the lower-feeding mechanism;
[0042] The chassis structure 5 includes a frame 7 and a wheel set mechanism 6, and the wheel set mechanism is installed at the bottom of the aluminum alloy frame 7;
[0043] The wheel assembly mechanism includes a shock absorbing system and an omnidirectional wheel assembly 61, the shock absorbing system includes a parallelogram suspension 62 and a shock absorber 63, the parallelogram suspension 62 is fixed on the aluminum alloy frame 7, the shock absorber 63 is fixed on the upper part of the parallelogram suspension 62, and the parallelogram suspension 62 is connected to the omnidirectional wheel assembly 61 through a coupling, a thrust ball bearing and a gasket.
[0044] The chassis structure carries the robot structure and completes the motion task. The gimbal is used to carry the launching mechanism and the ammunition storage mechanism. The launching mechanism aims and obtains visual information by rotating on the gimbal and the gimbal on the yaw axis structure. After aiming, the launching mechanism launches the projectile.
[0045] The feeding mechanism and the storage mechanism do not move with the launching mechanism, so that the weight of the storage mechanism and the initial projectile are all borne by the gimbal, thereby reducing the weight of the launching mechanism, so that the amount of projectiles will not affect the movement of the launching mechanism, and the movement of the launching mechanism in the pitch axis direction will not affect the movement trajectory of the projectile, and also avoid the problem of the change of the center of gravity of the launching structure caused by the movement of the pitch axis in the traditional upper feeding mode, ensuring the stability of the launching mechanism. At the same time, this mechanism is set at the center of the side of the robot, which will not affect the center of gravity of the robot.
[0046] To further optimize the technical solution, the launching mechanism is rotatably fixed to the side and front of the top of the gimbal frame 3 , the bullet storage mechanism is fixed to the middle of the gimbal frame 3 , and the lower bullet feeding mechanism is fixed to the left side of the gimbal frame 3 .
[0047] To further optimize the technical solution, the bullet storage mechanism includes a magazine 31, a picking tooth 16, a bullet disc 33 and a bullet disc connecting plate 32; the magazine 31 is fixedly connected to the gimbal frame 3, the bullet disc 33 is fixed to the gimbal frame 3 through the bullet disc connecting plate 32, the top of the bullet disc 33 is fixedly connected to the bottom of the magazine 31, the picking tooth 16 is rotatably fixed in the bullet disc 33, a bullet motor is installed at the bottom of the bullet disc 33, and the output shaft of the bullet motor is connected to the picking tooth 16. The magazine and the bullet disc are fixedly connected to the gimbal frame, the top of the bullet disc is fixedly connected to the bottom of the magazine, and the spiral picking tooth rotates to generate a disturbed airflow, thereby accelerating the falling of the projectile, and the bullet disc can store three layers of projectiles, so that the projectiles can be fired in a short time without the need for new projectiles to be supplied, which perfectly copes with the short-term projectile exchange between robots and ensures the continuity and stability of projectile firing.
[0048] Specifically, the present invention adopts three layers of printed parts stacked in the design of the bullet tray, that is, other designs can be inserted between the three layers of printed dial walls. The present invention arranges bearing lubrication at the projectile outlet to avoid the situation where the traditional bullet tray design is prone to getting stuck here.
[0049] The link part of the present invention adopts stacked plates, which avoids the problems of easy clogging, difficult disassembly and repair of traditional integrated links. At the same time, the structural strength after adding aluminum column design is also better than the integrated printing link design.
[0050] The material of the shift gear is generally 3D printed material. The present invention uses light-curing material for printing to increase the deformation temperature and strength of the material, ensuring that the mechanical structure can still maintain zero deformation when the dial motor overheats, while solving the problem that the part is easily damaged during operation.
[0051] Further optimize the technical solution, the launch mechanism includes a launch barrel 11, an acceleration barrel 13, a friction wheel 12 and a projectile chain 14, the launch barrel 11, the acceleration barrel 13 and the friction wheel 12 are all installed on the carbon fiber plate of the launch mechanism, the projectile chain 14 is a channel structure formed by stacking the plates, one end of the projectile chain 14 is rotatably fixed on the lower feeding mechanism, and the other end is connected to the launch barrel 11 through the acceleration barrel 13. The U-shaped bearing limit of the launch mechanism compresses the projectile by 3.5mm, so that the initial velocity of the projectile can reach 30m / s, and the 13.5mm spacing of the friction wheel is used to ensure the initial position of the projectile, and after firing, the landing point of the projectile is guaranteed to be scattered in a square array of 100mm*100mm within 10 meters.
[0052] Specifically, the hollow axis of the accelerator barrel is designed to limit the movement of the projectile at the first step to avoid the Magnus effect, that is, the projectile is offset when it moves, so that the projectile is centered when it contacts the U-shaped bearing limit. After leaving the limit contact friction wheel and firing, the second step is designed to prevent the projectile from contacting any object, thereby ensuring the shooting accuracy.
[0053] To further optimize the technical solution, the lower feeding mechanism includes a straight chain link 15 of stacked plates and a flange bearing; the top port of the straight chain link 15 is rotatably fixed to one end of the projectile link 14 through the flange bearing and is connected to the projectile link 14; the bottom port of the straight chain track 15 is fixedly connected to the outlet on one side of the ejector plate 17.
[0054] To further optimize the technical solution, the launching mechanism is rotatably connected to the gimbal frame 3 through a pitch shaft transmission structure, and the pitch shaft transmission structure includes a pitch shaft bearing 24, a pitch four-link 22, a pitch shaft plate 23 and a GM3508 motor 21; the position design of the pitch shaft transmission structure can well balance the gravity torque generated by the launching mechanism. The pitch shaft plate 23 is fixed on the gimbal frame 3, one end of the pitch four-link 22 is rotatably connected to the connecting piece 22 through the pitch shaft bearing 24, and the other end is connected to the output end of the motor 21, and the projectile link 14 is installed on the pitch four-link 22.
[0055] Specifically, in the pitch axis transmission mechanism, the motor is placed on the right side of the gimbal and fixed on the right side of the gimbal to balance the center of gravity of the launching mechanism, and is connected to the pitch axis through a four-bar linkage, so that the response speed of the pitch axis is better than that of the general design.
[0056] The pitch axis transmission structure makes the connection between the lower feeding mechanism and the launching mechanism coaxial, so that the movement of the launching mechanism in the pitch axis direction will not affect the trajectory of the projectile, and also avoids the problem of the change of the center of gravity of the launching structure caused by the movement of the pitch axis in the traditional upper feeding mode, ensuring the stability of the launching mechanism. At the same time, it reduces the rotational inertia of the yaw axis and the center of gravity of the whole vehicle.
[0057] The present invention designs a bearing anti-dropout mechanism at the pitch axis, which is clamped by flanges on both sides, thereby avoiding the problem of easy dropout of the bearing in the traditional pitch design. In addition, the flange has low requirements on the material, and can be replaced by low-cost rapid prototyping materials such as 3D printing.
[0058] Further optimize the technical solution, the bottom end of the pan-tilt frame 3 is rotatably fixed on the chassis structure 5 through the rotating structure 4. The transmission structure 4 includes a yaw axis motor 46, a yaw axis bearing 43, a lower bearing fixing part 44, an upper bearing fixing part 42, a motor protection part 45, a motor anti-loosening sleeve 47 and a conductive slip ring 41, the yaw axis motor 46 is fixed on the chassis structure 5, the top of the upper bearing fixing part 42 is fixedly connected to the pan-tilt frame 3, the yaw axis bearing 43 is embedded in the upper bearing fixing part 42 and the lower bearing fixing part 44, the boss of the lower bearing fixing part 44 is embedded in the yaw axis bearing 43, the upper end of the yaw axis motor 46 is connected and fixed to the motor protection part 45, and the lower end is fixedly connected to the motor anti-loosening sleeve 47, the conductive slip ring 41 is embedded inside, and the output end of the yaw axis motor 46 is connected to the pan-tilt frame 3.
[0059] The yaw shaft system has been improved so that the yaw shaft bearing can be fixed with only two parts. At the same time, the hollow design reduces the weight, saving space and cost while ensuring structural strength.
[0060] Different from the common omnidirectional wheel well-shaped frame design, the chassis bottom plate is sandwiched between the horizontal and vertical aluminum squares in the present invention. Not only is the structure stable, the vertical and horizontal anti-collision links can be directly installed to make up for the vertical and horizontal height differences. The upper and lower mortise and tenon structures are not only stable, but also reduce the use of bolts and plates. The outer side adopts arc-shaped aluminum squares to ensure high strength while ensuring passability. The armor plates around are directly fixed to the horizontal and vertical aluminum squares through aluminum squares, and the structure is simple.
[0061] Specifically, when the parallelogram suspension used in this design is compressed, its compression change curve is a curve with increasing slope, that is, when the robot passes through complex sections or crosses a slope, the suspension can absorb all impacts. At the same time, when the suspension is compressed in a short range, its damping is small, so that it can cope with movement on complex terrain.
[0062] To further optimize the technical solution, the omnidirectional wheel assembly 61 includes a wheel axle, a clamping cover 51, an outer wheel 52, an intermediate pad 53, an inner wheel 54, a coupling 55, a gasket 56 and a thrust ball bearing 57; the wheel axle passes through the outer wheel 52, the intermediate pad 53, the inner wheel 54, the coupling 55, and the gasket 56 in sequence, one end is positioned by the clamping cover 51, and the other end is positioned by the thrust ball bearing 57; the parallelogram suspension 62 is connected to the wheel axle through the coupling 55, the thrust ball bearing 57 and the gasket 56. The omnidirectional wheel assembly design adopts a wheel-coupling-thrust ball bearing-motor structure, which has a simple structure, high strength, and low cost.
[0063] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.
Claims
1. A bottom-feeding omnidirectional wheeled infantry robot based on the Robomaster competition, characterized in that: include: A chassis structure (5), a pan-tilt frame (2), a rotating structure (4), and a launching structure (1); the pan-tilt frame (3) is connected to the rotating structure (4) and fixed on the chassis structure (5); the launching structure (1) comprises a launching mechanism, a lower ammunition supply mechanism, and an ammunition storage mechanism; the launching mechanism is rotatably mounted on the pan-tilt frame (3); the ammunition storage mechanism and the lower ammunition supply mechanism are both fixedly connected to the pan-tilt frame (3); and the launching mechanism is connected to the ammunition storage mechanism via the lower ammunition supply mechanism; The chassis structure (5) comprises a frame (7) and a wheel assembly mechanism (6), wherein the wheel assembly mechanism is mounted on the bottom of the frame (7); The wheel assembly mechanism comprises a shock absorbing system and an omnidirectional wheel assembly (61); the shock absorbing system comprises a parallelogram suspension (62) and a shock absorber (63); the parallelogram suspension (62) is fixed on a vehicle frame (7); the shock absorber (63) is fixed on the upper part of the parallelogram suspension (62); the parallelogram suspension (62) is connected to the omnidirectional wheel assembly (61) via a coupling, a thrust ball bearing and a gasket.
2. The bottom-feeding omnidirectional wheeled infantry robot based on the Robomaster competition as claimed in claim 1, characterized in that: The firing mechanism is rotatably fixed to the side and front of the top of the pan-tilt frame (3), the ammunition storage mechanism is fixed to the middle of the pan-tilt frame (3), and the lower ammunition feeding mechanism is fixed to the left side of the pan-tilt frame (3).
3. The bottom-feeding omnidirectional wheeled infantry robot based on the Robomaster competition as claimed in claim 2, characterized in that: The bullet storage mechanism comprises a bullet compartment (31), a pulling tooth (16), a bullet ejecting plate (33) and a bullet ejecting plate connecting plate (32); the bullet compartment (31) is fixedly connected to the pan-tilt frame (3); the bullet ejecting plate (33) is fixed to the pan-tilt frame (3) via the bullet ejecting plate connecting plate (32); the top of the bullet ejecting plate (33) is fixedly connected to the bottom of the bullet compartment (31); the pulling tooth (16) is rotatably fixed in the bullet ejecting plate (33); a bullet ejecting motor is installed at the bottom of the bullet ejecting plate (33); and the output shaft of the bullet ejecting motor is connected to the pulling tooth (16).
4. The bottom-feeding omnidirectional wheeled infantry robot based on the Robomaster competition as claimed in claim 3, characterized in that: The launching mechanism comprises a launching barrel (11), an accelerating barrel (13), a friction wheel (12) and a projectile chain (14); the launching barrel (11), the accelerating barrel (13) and the friction wheel (12) are all mounted on a carbon fiber plate of the launching mechanism; the projectile chain (14) is a channel structure formed by stacking the plates; one end of the projectile chain (14) is rotatably fixed on a lower feeding mechanism, and the other end is connected to the launching barrel (11) through the accelerating barrel (13).
5. The bottom-feeding omnidirectional wheeled infantry robot based on the Robomaster competition as claimed in claim 4, characterized in that: The lower bullet feeding mechanism comprises a straight chain link (15) of stacked plates and a flange bearing; the top port of the straight chain link (15) is rotatably fixed to one end of the projectile link (14) through the flange bearing and is connected to the projectile link (14); the bottom port of the straight chain track (15) is fixedly connected to an outlet on one side of the bullet ejector plate (17).
6. A bottom-feeding omnidirectional wheeled infantry robot based on the Robomaster competition as claimed in claim 1 or 5, characterized in that: The launching mechanism is rotatably connected to the pan-tilt frame (3) via a pitch shaft transmission structure, and the pitch shaft transmission structure comprises a pitch shaft bearing (24), a pitch four-link (22), a pitch shaft plate (23) and a motor (21); the pitch shaft plate (23) is fixed on the pan-tilt frame (3), one end of the pitch four-link (22) is rotatably connected to the connecting member (22) via the pitch shaft bearing (24), and the other end is connected to the output end of the motor (21), and the projectile chain (14) is installed on the pitch four-link (22).
7. The bottom-feeding omnidirectional wheeled infantry robot based on the Robomaster competition as claimed in claim 6, characterized in that: The bottom end of the pan / tilt frame (3) is rotatably fixed on the chassis structure (5) via a rotating structure (4).
8. The bottom-feeding omnidirectional wheeled infantry robot based on the Robomaster competition as claimed in claim 7, characterized in that: The transmission structure (4) comprises a yaw axis motor (46), a yaw axis bearing (43), a lower bearing fixing member (44), an upper bearing fixing member (42), a motor protection member (45), a motor anti-loosening sleeve (47) and a conductive slip ring (41); the yaw axis motor (46) is fixed on the chassis structure (5); the top of the upper bearing fixing member (42) is fixedly connected to the pan-tilt frame (3); the yaw axis bearing (43) is embedded in the upper bearing fixing member (42) and the lower bearing fixing member (44); the boss of the lower bearing fixing member (44) is embedded in the yaw axis bearing (43); the upper end of the yaw axis motor (46) is connected and fixed to the motor protection member (45); the lower end is fixedly connected to the motor anti-loosening sleeve (47); the conductive slip ring (41) is embedded inside; and the output end of the yaw axis motor (46) is connected to the pan-tilt frame (3).
9. The bottom-feeding omnidirectional wheeled infantry robot based on the Robomaster competition as claimed in claim 8, characterized in that: The omnidirectional wheel assembly (61) comprises a wheel axle, a clamping cover (51), an outer wheel (52), an intermediate pad (53), an inner wheel (54), a coupling (55), a gasket (56) and a thrust ball bearing (57); the wheel axle passes through the outer wheel (52), the intermediate pad (53), the inner wheel (54), the coupling (55) and the gasket (56) in sequence, one end of which is positioned by the clamping cover (51) and the other end of which is positioned by the thrust ball bearing (57); the parallelogram suspension (62) is connected to the wheel axle through the coupling (55), the thrust ball bearing (57) and the gasket (56).