A competition robot and its pneumatic launching device

Abstract

The present invention relates to a competition robot and a pneumatic launching device thereof, wherein the competition robot comprises: a pneumatic launching device, a mechanical arm device for supporting and adjusting the launching angle of the pneumatic launching device, and a robot chassis for supporting the mechanical arm device; the pneumatic launching device comprises: a launching mechanism unit and an air circuit unit; the launching mechanism unit comprises: a bullet feeding module, an air chamber module and a driving cylinder; the air chamber module is connected to the bullet feeding module and is located at the front end of the bullet feeding module; the driving cylinder is connected to the bullet feeding module and is used to push the projectile in the bullet feeding module into the air chamber module; the air circuit unit comprises: an air source, a first two-position five-way solenoid valve and a second two-position five-way solenoid valve connected to the air source, and a quick exhaust valve; the quick exhaust valve is respectively connected to the first two-position five-way solenoid valve and the air chamber module and is used to launch the projectile in the air chamber module; the driving cylinder is connected to the second two-position five-way solenoid valve.

Description

Technical Field

[0001] The present invention relates to the field of robots, in particular to a competition robot and a pneumatic launching device thereof. Background Art

[0002] A robot is an intelligent machine capable of semi- or fully autonomous operation. With the rapid application and popularization of electronics and information technology, robotics competitions have sprung up across the country. Research, creativity, and hands-on robotics construction have become a new highlight and a new area of scientific and technological innovation in the new century. In recent years, with the development of the Robot Masters competition, the pace of technological iteration has accelerated, and competition rules have been continuously optimized. Traditional launch mechanisms are no longer able to meet the higher precision requirements, necessitating the active development of new regulations and new powertrains for 42mm projectile launch mechanisms.

[0003] The most common method for launching 42mm projectiles is to use a motor to drive a pair of friction wheels (positioned horizontally or vertically) to accelerate and fire the 42mm projectile. At the same time, launching mechanisms that use rubber bands as the launching force based on the principle of a slingshot have also become popular. However, in traditional 42mm projectile launching mechanisms used in the Robot Master competition, friction wheel launching mechanisms rely on paired friction wheels for firing. The accuracy of friction wheel launching mechanisms is affected by a variety of factors, including but not limited to air humidity, friction wheel wear, motor speed differences, and mechanical installation accuracy. This often causes the projectile to spin unpredictably, resulting in a large drop point dispersion. Furthermore, motor control requires multiple signal and power lines, which leads to a certain degree of system complexity.

[0004] Another emerging slingshot rubber band launching mechanism, although it avoids the uncontrollable problem caused by the spin of the projectile to a certain extent, its acceleration stroke is long and the rubber band tolerance is uncontrollable. On the one hand, it increases the redundancy of the mechanical structure, and on the other hand, there is great uncertainty. Summary of the Invention

[0005] The purpose of the present invention is to provide a competition robot and a pneumatic launching device thereof.

[0006] To achieve the above-mentioned object of the invention, the present invention provides a competition robot, comprising: a pneumatic launching device, a mechanical arm device for supporting and adjusting the launching angle of the pneumatic launching device, and a robot chassis for supporting the mechanical arm device;

[0007] The pneumatic launching device comprises: a launching mechanism unit and an air circuit unit;

[0008] The launching mechanism unit includes: a bullet feeding module, a gas chamber module and a driving cylinder;

[0009] The gas chamber module is connected to the ammunition feeding module and is located at the front end of the ammunition feeding module;

[0010] The driving cylinder is connected to the ammunition feeding module and is used to push the projectiles in the ammunition feeding module into the gas chamber module;

[0011] The gas circuit unit includes: an air source, a first two-position five-way solenoid valve and a second two-position five-way solenoid valve connected to the air source, and a quick exhaust valve;

[0012] The quick exhaust valve is connected to the first two-position five-way solenoid valve and the air chamber module respectively, and is used to launch the projectile in the air chamber module;

[0013] The driving cylinder is connected to the second two-position five-way solenoid valve.

[0014] According to one aspect of the present invention, the ammunition feeding module includes: an ammunition feeding body, an ammunition feeding hammer slidably connected to the ammunition feeding body;

[0015] The bullet feeding body is a hollow cylindrical body with two ends open, and a bullet feeding hole connected to the hollow part of the bullet feeding body is provided on one side of the bullet feeding body;

[0016] A guide groove is provided on the inner side wall of the bullet feeding body along the axial direction of the bullet feeding body;

[0017] The feeding hammer includes: a hammer head, a sliding protrusion connected to the hammer head and a long baffle;

[0018] The hammer head is slidably connected to the hollow portion of the bullet feeding body, and the hammer head is connected to the piston rod of the driving cylinder;

[0019] The sliding protrusion is connected to the guide groove;

[0020] The long baffle is located on a side of the hammer head opposite to the bullet feeding hole.

[0021] According to one aspect of the present invention, the gas chamber module includes: a gas chamber body, a feeding end film and a firing end film arranged on opposite sides of the gas chamber body, and an ejection tube;

[0022] The gas chamber body is a hollow columnar body, and a launch air inlet pipe communicating with the hollow part is provided on one side wall thereof;

[0023] The film at the feeding end includes: a first annular portion and a first annular protrusion provided on one side of the first annular portion;

[0024] The inner diameter of the first annular portion is smaller than the diameter of the projectile;

[0025] The transmitting end film comprises: a second annular portion and a second annular protrusion provided on one side of the second annular portion;

[0026] The inner diameter of the second annular portion is smaller than the diameter of the projectile;

[0027] One end of the gas chamber body connected to the feeding end film is provided with a first fitting groove matching the first annular protrusion;

[0028] One end of the ejection tube connected to the air chamber body is provided with a second fitting groove matching the second annular protrusion.

[0029] According to one aspect of the present invention, the air inlet of the quick exhaust valve is connected to the first two-position five-way solenoid valve, the air outlet is connected to the launch air inlet pipe, and the air outlet is provided with an air storage structure;

[0030] The gas storage structure includes: a hollow gas storage pipe and a sealing plug provided at one end of the gas storage pipe;

[0031] One end of the gas storage pipe away from the sealing plug is sealed with the gas outlet of the quick exhaust valve.

[0032] According to one aspect of the present invention, the manipulator device includes: a manipulator base, a first supporting portion and a second supporting portion supported on the manipulator base, a pitch adjustment seat provided on a side of the first supporting portion opposite to the second supporting portion, a mounting seat connected to the pitch adjustment seat and used to mount the pneumatic launcher, a conveyor chain structure mounted on the second supporting portion and used to transport projectiles, and a rotation drive transmission-connected to the manipulator base and used to drive the manipulator base to rotate;

[0033] The ammunition feeding module, the driving cylinder, the air source, the first two-position five-way solenoid valve, the second two-position five-way solenoid valve and the quick exhaust valve are respectively connected to the mounting seat;

[0034] One end of the second supporting portion away from the robotic arm base is connected to the bullet feeding hole of the bullet feeding module, and the second supporting portion is rotatably connected to the bullet feeding module.

[0035] According to one aspect of the present invention, the robot chassis comprises: a chassis body, a support connection seat, a driving wheel set and a magazine;

[0036] The support connector is supported on the upper side of the chassis body;

[0037] The magazine and the driving wheel assembly are connected to the lower side of the chassis body;

[0038] The mechanical arm base is rotatably connected to the support connecting seat, and the rotation drives the support adjacent to the support connecting seat on the chassis body;

[0039] The support connecting seat is provided with a hollow channel, and the magazine and the conveying chain structure are respectively connected to two ends of the hollow channel.

[0040] To achieve the above-mentioned object of the invention, the present invention provides a pneumatic launching device for a competition robot, comprising: a launching mechanism unit and an air circuit unit;

[0041] The launching mechanism unit includes: a bullet feeding module, a gas chamber module and a driving cylinder;

[0042] The gas chamber module is connected to the ammunition feeding module and is located at the front end of the ammunition feeding module;

[0043] The driving cylinder is connected to the ammunition feeding module and is used to push the projectiles in the ammunition feeding module into the gas chamber module;

[0044] The gas circuit unit includes: an air source, a first two-position five-way solenoid valve and a second two-position five-way solenoid valve connected to the air source, and a quick exhaust valve;

[0045] The quick exhaust valve is connected to the first two-position five-way solenoid valve and the air chamber module respectively, and is used to launch the projectile in the air chamber module;

[0046] The driving cylinder is connected to the second two-position five-way solenoid valve.

[0047] According to one aspect of the present invention, the ammunition feeding module includes: an ammunition feeding body, an ammunition feeding hammer slidably connected to the ammunition feeding body;

[0048] The bullet feeding body is a hollow cylindrical body with two ends open, and a bullet feeding hole connected to the hollow part of the bullet feeding body is provided on one side of the bullet feeding body;

[0049] A guide groove is provided on the inner side wall of the bullet feeding body along the axial direction of the bullet feeding body;

[0050] The feeding hammer includes: a hammer head, a sliding protrusion connected to the hammer head and a long baffle;

[0051] The hammer head is slidably connected to the hollow portion of the bullet feeding body, and the hammer head is connected to the piston rod of the driving cylinder;

[0052] The sliding protrusion is connected to the guide groove;

[0053] The long baffle is located on a side of the hammer head opposite to the bullet feeding hole.

[0054] According to one aspect of the present invention, the gas chamber module includes: a gas chamber body, a feeding end film and a firing end film arranged on opposite sides of the gas chamber body, and an ejection tube;

[0055] The gas chamber body is a hollow columnar body, and a launch air inlet pipe communicating with the hollow part is provided on one side wall thereof;

[0056] The film at the feeding end includes: a first annular portion and a first annular protrusion provided on one side of the first annular portion;

[0057] The inner diameter of the first annular portion is smaller than the diameter of the projectile;

[0058] The transmitting end film comprises: a second annular portion and a second annular protrusion provided on one side of the second annular portion;

[0059] The inner diameter of the second annular portion is smaller than the diameter of the projectile;

[0060] One end of the gas chamber body connected to the feeding end film is provided with a first fitting groove matching the first annular protrusion;

[0061] One end of the ejection tube connected to the air chamber body is provided with a second fitting groove matching the second annular protrusion.

[0062] According to one aspect of the present invention, the air inlet of the quick exhaust valve is connected to the first two-position five-way solenoid valve, the air outlet is connected to the launch air inlet pipe, and the air outlet is provided with an air storage structure;

[0063] The gas storage structure includes: a hollow gas storage pipe and a sealing plug provided at one end of the gas storage pipe;

[0064] One end of the gas storage pipe away from the sealing plug is sealedly connected to the gas outlet of the quick exhaust valve;

[0065] The feeding end film and the launching end film are made of 50HB hardness soft rubber material.

[0066] According to one solution of the present invention, the present invention can use compressed air as power and store compressed air in high-pressure gas cylinders as a power source to launch 42mm projectiles for competition, and can accelerate the 42mm projectile to a speed range of 0 to 23m / s within the required compressed air pressure range of 0 to 0.8Mpa, and has good shooting accuracy.

[0067] According to one solution of the present invention, the pneumatic launching device of the present invention has a simple and reliable structure, and can form a self-sealing compressed air action area based on the dynamic coordination of the feeding hammer, the gas chamber body, the feeding end film, the launching end film and the projectile itself, without the need for additional sealing structure, thereby simplifying the mechanical design and improving the stability and reliability of the device operation under complex conditions.

[0068] According to one solution of the present invention, the pneumatic launching device of the present invention effectively realizes the one-way feeding and anti-dropping effect of the projectile by setting the film at the feeding end and the launching end film, and has a simple and reliable structure and high practicality.

[0069] According to one solution of the present invention, the present invention uses compressed air as the launching power, which can well solve the problem of irregular spinning of the projectile, greatly improve the shooting accuracy, and reduce the shooting dispersion error at a certain distance.

[0070] According to one solution of the present invention, in the robotic arm device of the present invention, both the first supporting part and the second supporting part adopt a frame structure to achieve lightweight while effectively ensuring structural stability.

[0071] According to one solution of the present invention, the robotic arm device of the present invention not only realizes stable support for the pneumatic launch device, but also realizes the docking of the ammunition feeding module and the conveyor chain structure, which can conveniently realize the automatic loading process of the projectile, and effectively improves the automation level of the present invention.

[0072] According to one embodiment of the present invention, the present invention effectively solves the problem of projectile landing point dispersion caused by irregular spin during projectile launch, further improving projectile launch accuracy. Furthermore, while maintaining a device volume comparable to that of a traditional friction wheel, the device requires only two power cords to complete the launch action, significantly reducing the complexity of traditional friction wheel and slingshot rubber band launch mechanisms. This also addresses the launch mechanism's accuracy issues and the complexity of its mechanical design and circuit connections. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 is a front view schematically showing a competition robot according to one embodiment of the present invention;

[0074] Figure 2 is a perspective view schematically showing a competition robot according to one embodiment of the present invention;

[0075] Figure 3 is a side view schematically showing a competition robot according to one embodiment of the present invention;

[0076] Figure 4 is a structural diagram schematically showing a launching mechanism module according to one embodiment of the present invention;

[0077] Figure 5 is a cross-sectional view schematically showing the structure of a launching mechanism module according to one embodiment of the present invention;

[0078] Figure 6 is a perspective view schematically showing a second two-position five-way solenoid valve according to an embodiment of the present invention;

[0079] Figure 7 is a bottom view schematically showing a second two-position five-way solenoid valve according to an embodiment of the present invention;

[0080] Figure 8 is a structural diagram schematically showing an ammunition feeding body according to one embodiment of the present invention;

[0081] Figure 9 is a structural diagram schematically showing a feeding hammer according to an embodiment of the present invention;

[0082] Figure 10 is a structural diagram schematically showing a gas chamber body according to one embodiment of the present invention;

[0083] Figure 11 1 is a schematic structural diagram of a feeding end film / launching end film according to an embodiment of the present invention;

[0084] Figure 12 is a diagram schematically showing a projectile launching state according to one embodiment of the present invention;

[0085] Figure 13 1 is a structural diagram schematically showing a quick exhaust valve according to an embodiment of the present invention;

[0086] Figure 14 is a perspective view schematically showing a first two-position five-way solenoid valve according to an embodiment of the present invention;

[0087] Figure 15 is a bottom view schematically showing a first two-position five-way solenoid valve according to an embodiment of the present invention;

[0088] Figure 16 is a structural diagram schematically showing a robotic arm device according to an embodiment of the present invention;

[0089] Figure 17 FIG. 1 is a rear view schematically showing a robot arm device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0090] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0091] When describing the embodiments of the present invention, the orientation or positional relationship expressed by the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or positional relationship shown in the relevant drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0092] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiments cannot be described one by one here, but the embodiments of the present invention are not limited to the following embodiments.

[0093] Combine Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, according to one embodiment of the present invention, a competition robot comprises: a pneumatic launcher 1, a robotic arm assembly 2 for supporting and adjusting the launch angle of the pneumatic launcher 1, and a robot chassis 3 for supporting the robotic arm assembly 2. In this embodiment, the pneumatic launcher 1 comprises a launch mechanism unit 1a and an air circuit unit 1b; the launch mechanism unit 1a comprises a feed module 11, an air chamber module 12, and a drive cylinder 13. In this embodiment, the air chamber module 12 is connected to the feed module 11 and is located at the front end of the feed module 11; the drive cylinder 13 is connected to the feed module 11 and is used to push the projectiles in the feed module 11 into the air chamber module 12.

[0094] In this embodiment, the air circuit unit 1b includes: an air source 14, a first two-position five-way solenoid valve 15a and a second two-position five-way solenoid valve 15b connected to the air source 14, and a quick exhaust valve 16; wherein the quick exhaust valve 16 is respectively connected to the first two-position five-way solenoid valve 15a and the air chamber module 12, for launching the projectile in the air chamber module 12; the driving cylinder 13 is connected to the second two-position five-way solenoid valve 15b, for realizing the process of transporting the projectile to the air chamber module 12.

[0095] Combine Figure 4 、 Figure 5 、 Figure 8 and Figure 9 As shown, according to one embodiment of the present invention, the ammunition feeding module 11 includes: an ammunition feeding body 111, and an ammunition feeding hammer 112 slidably connected to the ammunition feeding body 111. In this embodiment, the ammunition feeding body 111 is a hollow cylindrical body with openings at both ends, and a feed hole 1111 connected to the hollow portion of the ammunition feeding body 111 is provided on one side of the ammunition feeding body 111. In this embodiment, the ammunition feeding body 111 can be manufactured in one piece by machining. In this embodiment, a guide groove 1112 is provided on the inner side wall of the ammunition feeding body 111 along the axial direction of the ammunition feeding body 111; wherein, the guide groove 1112 is provided opposite to the feed hole 1111.

[0096] In this embodiment, the feeding hammer 112 includes a hammer head 1121, a sliding protrusion 1122 connected to the hammer head 1121, and a long baffle 1123. The hammer head 1121 is slidably connected to the hollow portion of the feeding body 111, and the center of the hammer head 1121 is connected to the piston rod of the driving cylinder 13. In this embodiment, the hammer head 1121 is an overall cylindrical structure, and its front end is provided with a spherical groove for adapting to the projectile, which is used to achieve the positioning and pushing of the projectile and ensure the accuracy of projectile delivery. In this embodiment, the outer side surface of the front end of the hammer head 1121 is conical, which effectively reduces the outer diameter of the front end of the hammer head 1121, thereby making it easier to extend into the gas chamber module 12 to achieve projectile delivery, while also providing a sealing effect on one end of the gas chamber module 12.

[0097] In this embodiment, the sliding protrusion 1122 is connected to the guide groove 1112; the long baffle 1123 is located on the side of the hammer head 1121 opposite the feed hole 1111. In this embodiment, since the guide groove 1112 and the feed hole 1111 are arranged opposite each other and radially relative to the hammer head 1121, the sliding protrusion 1122 and the long baffle 1123 are also located opposite each other. In this embodiment, the sliding protrusion 1122 is radially protruding on the side near the rear end of the hammer head 1121 to facilitate mating with the guide groove 1112. In this embodiment, the sliding protrusion 1122 is chamfered toward the front end of the hammer head 1121 to ensure smooth sliding of the sliding protrusion 1122. In this embodiment, the long baffle 1123 is an elongated strip, with one end connected to the rear end of the hammer head 1121 and the other end extending freely away from the hammer head 1121. In this embodiment, the outer side surface of the long baffle 1123 can be set to a curved surface to achieve cooperation with the inner side surface of the hollow part of the bullet feeding body 111.

[0098] Through the above arrangement, by providing a sliding protrusion on the hammer head and slidingly connecting it with the guide groove on the feed body, the hammer head's direction is effectively guaranteed to be constant and accurate during operation, thereby facilitating the operation accuracy of the hammer head. Furthermore, the provided sliding protrusion and guide groove effectively suppress the rotation of the hammer head, thereby effectively ensuring the stability of the connection between the hammer head and the drive cylinder and effectively preventing loosening of the connection position. Furthermore, by further providing a long baffle on the hammer head, the feed hole can be closed after the delivery of the projectile is completed, thereby preventing the entry of subsequent projectiles and effectively ensuring the normal cycle operation of the present invention.

[0099] like Figure 6 and Figure 7 As shown, the second, two-position, five-way solenoid valve 15b has a second air source port 15b1, a third exhaust port 15b2, a fourth exhaust port 15b3, a third air outlet 15b4, and a fourth air outlet 15b5. The second air source port 15b1 is connected to the air source 14, while the third and fourth air outlets 15b4, 15b5 are connected to the two connection ports of the drive cylinder 13, respectively, to control the forward and backward movement of the cylinder. The third and fourth exhaust ports 15b2, 15b3 serve only to exhaust residual air from the previous cycle of operation in the cylinder and are therefore open. However, mufflers or other structures can also be installed to reduce noise.

[0100] Combine Figure 4 、 Figure 5 、 Figure 10 、 Figure 11 and Figure 12As shown, according to one embodiment of the present invention, the gas chamber module 12 includes: a gas chamber body 121, a feed end film 122 and a launch end film 123 disposed on opposite sides of the gas chamber body 121, and an ejection tube 124. In this embodiment, the gas chamber body 121 is a hollow cylinder, with a launch air inlet pipe 121a disposed on one side wall thereof, communicating with the hollow portion. In this embodiment, the feed end film 122 includes: a first annular portion 122a and a first annular protrusion 122b disposed on one side of the first annular portion 122a; the inner diameter of the first annular portion 122a is smaller than the diameter of the projectile (for example, if the projectile diameter is 42 mm, the inner diameter of the first annular portion 122a can be set to 40 mm). In this embodiment, the launch end film 123 includes: a second annular portion 123a and a second annular protrusion 123b disposed on one side of the second annular portion 123a. In this embodiment, the inner diameter of the second annular portion 123a is smaller than the diameter of the projectile (for example, if the projectile diameter is 42 mm, the inner diameter of the second annular portion 123a can be set to 40 mm). In this embodiment, the end of the gas chamber body 121 connected to the feeding end film 122 is provided with a first fitting groove 121b that matches the first annular protrusion 122b; and the end of the ejection tube 124 connected to the gas chamber body 121 is provided with a second fitting groove that matches the second annular protrusion 123b. In another embodiment, the second fitting groove that matches the second annular protrusion 123b can also be provided at the emission end (i.e., the front end) of the gas chamber body 121. The arrangement thereof is consistent with the above-described arrangement and is not further described here.

[0101] In this embodiment, the inner side edges of the first annular portion 122a and the second annular portion 123a may be configured to be chamfered, thereby ensuring airtightness while facilitating the passage of the projectile.

[0102] In this embodiment, the front end of the feed body 111 is connected to the feed end (i.e., the rear end) of the gas chamber body 121 via a threaded connection. A sealing effect is achieved at the connection point by positioning the feed end rubber sheet 122 between the feed body 111 and the gas chamber body 121. Furthermore, the first annular protrusion 122b provided on the feed end rubber sheet 122 is connected to the first engaging groove 121b, thereby ensuring a secure position of the feed end rubber sheet 122 relative to the gas chamber body 121, further effectively ensuring airtightness at the connection point.

[0103] In this embodiment, the end of the ejection tube 124 is also connected to the emission end (i.e., the front end) of the gas chamber body 121 using a threaded connection, wherein the emission end film 123 is located between the ejection tube 124 and the gas chamber body 121, thereby achieving sealing of the connection position.

[0104] In this embodiment, the front outer side of the hammer head 1121 is tapered. After the hammer head 1121 pushes the projectile into the air chamber body 121, the front end of the hammer head 1121 abuts against the inner surface of the first annular protrusion 122b, thereby sealing the rear end of the air chamber module 12. Simultaneously, the hammer head 1121 abuts against the inner surface of the second annular portion 123a of the firing end film 123, sealing the front end of the air chamber module 12. This creates an airtight space in the air chamber module 12.

[0105] In this embodiment, the hollow portion of the gas chamber body 121 and the end adjacent to the feeding end film 122 can be radially expanded to fully ensure the insertion of the hammer head 1121 and increase the volume of the cavity of the gas chamber body 121 in a sealed state to ensure sufficient and effective launch of the projectile.

[0106] Combine Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 12 、 Figure 13 、 Figure 14 and Figure 15 As shown, according to one embodiment of the present invention, the air inlet of the quick exhaust valve 16 is connected to the first two-position five-way solenoid valve 15a, its exhaust port is connected to the launch air inlet pipe 121a, and its air outlet is provided with an air storage structure 161. In this embodiment, the air storage structure 161 includes: a hollow air storage pipe 161a and a sealing plug 161b provided at one end of the air storage pipe 161a; the end of the air storage pipe 161a away from the sealing plug 161b is sealedly connected to the air outlet of the quick exhaust valve 16. In this embodiment, to achieve the connection between the air storage pipe 161a and the quick exhaust valve 16, an adapter can be provided at the end of the air storage pipe 161a to achieve a matching connection with the air outlet of the quick exhaust valve 16.

[0107] like Figure 14 and Figure 15 As shown, the first two-position five-way solenoid valve 15a has a first air source interface 15a1, a first exhaust port 15a2, a second exhaust port 15a3, a first air outlet 15a4, and a second air outlet 15a5. The first air source interface 15a1 is used to connect to the air source 14, the first air outlet 15a4 is sealed with a plug, and the second air outlet 15a5 is connected to the air inlet of the quick exhaust valve 16. The first exhaust port 15a2 and the second exhaust port 15a3 serve only to exhaust residual air from the previous cycle of operation in the cylinder and are therefore open. A muffler or other structure can also be provided to reduce noise.

[0108] Through the above arrangement, the present invention creatively improves the quick-exhaust valve 16 by providing a gas storage structure 161 at its outlet. This allows gas from the gas source to be stored in the gas storage structure 161. When the quick-exhaust valve 16 is actuated, the gas in the gas storage structure 161 is quickly flushed into the air chamber module 12, thereby achieving the launch of the projectile. Specifically, by controlling the first two-position five-way solenoid valve 15a to control the switching of the quick-exhaust valve, the gas storage structure is inflated and the quick-exhaust is exhausted, completing the launch action.

[0109] In addition, the present invention can also achieve quantitative and constant pressure storage of the launch gas through the gas storage structure 161 set on the quick exhaust valve 16, effectively ensuring that the pressure and volume of the compressed gas used in each launch are basically consistent, effectively ensuring that the speed and distance of the projectile each time are basically consistent, and further effectively ensuring the shooting accuracy of the present invention.

[0110] Combine Figure 1 、 Figure 2 、 Figure 3 、 Figure 16 and Figure 17As shown, according to one embodiment of the present invention, the manipulator device 2 includes: a manipulator base 21, a first support portion 22 and a second support portion 23 supported on the manipulator base 21, a pitch adjustment base 24 disposed on the side opposite the first support portion 22 and the second support portion 23, a mounting base 25 connected to the pitch adjustment base 24 and used to mount the pneumatic launcher 1, a conveyor chain structure 26 mounted on the second support portion 23 and used to transport projectiles, and a rotation drive 27 connected to the manipulator base 21 and used to drive the manipulator base 21 to rotate. In this embodiment, the ammunition feed module 11, the drive cylinder 13, the air source 14, the two-position five-way solenoid valve 15, and the quick exhaust valve 16 are respectively connected to the mounting base 25. In this embodiment, the first support portion 22 is a frame structure, one end of which is connected to the manipulator base 21 and the other end extends away from the manipulator base 21. In the present embodiment, the first supporting portion 22 is vertically supported on the manipulator base 21, wherein the end of the first supporting portion 22 connected to the manipulator base 21 is tilted, thereby increasing the spacing distance between the first supporting portion 22 and the second supporting portion 23 in the horizontal direction, so as to facilitate the installation of the mounting base 25. In the present embodiment, the pitch adjustment seat 24 is installed on the vertical portion of the first supporting portion 22, thereby ensuring accurate adjustment of the pitch angle of the mounting base 25. In the present embodiment, the second supporting portion 23 is also a frame structure, one end of which is interconnected with the manipulator base 21, and the other end is extended in a direction away from the manipulator base 21. In the present embodiment, the second supporting portion 23 is an arc-shaped frame as a whole, so that its lower end can be conveniently connected to the manipulator base 21. In this embodiment, in order to achieve the supporting stability of the first supporting part 22 and the second supporting part 23 by the robot arm base 21, the lower ends of the first supporting part 22 and the second supporting part 23 can be set as one piece, thereby ensuring the connection stability and installation reference of the first supporting part 22 and the second supporting part 23.

[0111] In this embodiment, the mounting base 25 is an overall frame structure, comprising parallel upper and lower support plates, and connecting side plates. In this embodiment, the ammunition feed module 11, drive cylinder 13, first and second two-position five-way solenoid valves 15a and 15b are mounted between the upper and lower support plates, while the air source 14 and quick exhaust valve 16 are supported on the upper side of the upper support plate.

[0112] In this embodiment, since the second supporting portion 23 is an arc-shaped frame, the end of the second supporting portion 23 away from the robot arm base 21 is connected to the bullet feeding hole 1111 of the bullet feeding module 11, and the second supporting portion 23 is rotatably connected to the bullet feeding module 11.

[0113] In this embodiment, the conveyor chain structure 26 is laid out within the frame of the second supporting portion 23 in accordance with the shape of the second supporting portion 23. Consequently, when the second supporting portion 23 is aligned with the feed hole 1111 of the ammunition feeding module 11, the conveyor chain structure 26 can also accurately mate with the feed hole 1111, thereby achieving accurate delivery of projectiles to the ammunition feeding module 11. In this embodiment, the conveyor chain structure 26 uses dozens of plug bolts combined with gaskets and precision bearings to form a continuous ammunition chain. A drive motor is then installed on the robot chassis 3, which can drive the projectiles and provide the power for the projectiles to move upward along the ammunition chain.

[0114] In this embodiment, the rotation drive 27 is connected to the manipulator base 21 using a belt drive. Specifically, a pulley is provided on the manipulator base 21, and a pulley is also provided on the rotation drive 27. The rotation of the pulley is driven by the rotation drive 27 to rotate the manipulator base 21. In this embodiment, the rotation drive 27 and the manipulator base 21 are driven by a synchronous belt to ensure transmission accuracy and accurately control the rotation angle of the manipulator device 2. In this embodiment, the rotation drive 27 can be implemented by a motor.

[0115] Combine Figure 1 、 Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the robot chassis 3 includes: a chassis body 31, a support connector 32, a drive wheel assembly 33, and a magazine. In this embodiment, the support connector 32 is supported on the upper side of the chassis body 31; the magazine and drive wheel assembly 33 are connected to the lower side of the chassis body 31. In this embodiment, the robot arm base 21 is rotationally connected to the support connector 32, and the rotation drive 27 is supported on the chassis body 31 adjacent to the support connector 32. In this embodiment, the support connector 32 is provided with a hollow channel, and the magazine and conveyor chain structure 26 are respectively connected to the ends of the hollow channel. This allows projectiles to be discharged from the magazine and transported to the pneumatic launcher 1 via the conveyor chain structure 26. After the launch is completed, the above process is repeated to achieve continuous projectile launch.

[0116] Combine Figure 1 、 Figure 2 and Figure 3 As shown, according to one embodiment of the present invention, the drive wheel assembly 33 includes a connecting support, a drive motor mounted on the connecting support, and a drive wheel connected to the drive motor. In this embodiment, the drive wheel is a Mecanum wheel. In this embodiment, four drive wheel assembly 33 are connected to the underside of the chassis body 31.

[0117] In this embodiment, the magazine is installed in the robot chassis, and the drive motor for driving the conveyor chain structure 26 is located below the magazine. The entire magazine can be set as a hollow shell with an opening for delivering projectiles (for example, the opening faces downward, and the projectiles fall under the action of gravity). The delivered projectiles are directly driven by the drive motor and sent into the conveyor chain structure 26. Since the projectiles are output in sequence, they are moved upward in sequence under the driving action of the drive motor until they reach the launching mechanism unit 1a. After the projectile in the launching mechanism unit 1a is launched, the feeding hammer 112 is reset. At this time, the front projectile can be delivered from the feeding hole 1111 into the feeding body 111 under the driving action of the drive motor, and then the drive motor stops running until the projectile is launched again and the above process is repeated.

[0118] Combine Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, according to one embodiment of the present invention, a pneumatic launching device for a competition robot comprises a launching mechanism unit 1a and an air circuit unit 1b. The launching mechanism unit 1a comprises a feed module 11, an air chamber module 12, and a driving cylinder 13. In this embodiment, the air chamber module 12 is connected to the feed module 11 and is located at the front end of the feed module 11. The driving cylinder 13 is connected to the feed module 11 and is used to push the projectiles in the feed module 11 into the air chamber module 12.

[0119] In this embodiment, the air circuit unit 1b includes: an air source 14, a first two-position five-way solenoid valve 15a and a second two-position five-way solenoid valve 15b connected to the air source 14, and a quick exhaust valve 16; wherein the quick exhaust valve 16 is respectively connected to the first two-position five-way solenoid valve 15a and the air chamber module 12, for launching the projectile in the air chamber module 12; the driving cylinder 13 is connected to the second two-position five-way solenoid valve 15b, for realizing the process of transporting the projectile to the air chamber module 12.

[0120] Combine Figure 4 、 Figure 5 、 Figure 8 and Figure 9As shown, according to one embodiment of the present invention, the ammunition feeding module 11 includes a feeding body 111 and a feeding hammer 112 slidably connected to the feeding body 111. In this embodiment, the feeding body 111 is a hollow cylindrical body with openings at both ends. A feed hole 1111 is provided on one side of the feeding body 111, communicating with the hollow portion of the feeding body 111. In this embodiment, the feeding body 111 can be integrally formed by machining. In this embodiment, a guide groove 1112 is provided on the inner sidewall of the feeding body 111 along the axial direction. The guide groove 1112 is disposed opposite the feed hole 1111. In this embodiment, the diameter of the feed hole 1111 is larger than the diameter of the projectile to facilitate projectile input. For example, if the projectile is 42 mm, the diameter of the feed hole 1111 can be set to 43 mm.

[0121] In this embodiment, the feeding hammer 112 includes a hammer head 1121, a sliding protrusion 1122 connected to the hammer head 1121, and a long baffle 1123. The hammer head 1121 is slidably connected to the hollow portion of the feeding body 111, and the center of the hammer head 1121 is connected to the piston rod of the driving cylinder 13. In this embodiment, the hammer head 1121 is an overall cylindrical structure, and its front end is provided with a spherical groove for adapting to the projectile, which is used to achieve the positioning and pushing of the projectile and ensure the accuracy of projectile delivery. In this embodiment, the outer side surface of the front end of the hammer head 1121 is conical, which effectively reduces the outer diameter of the front end of the hammer head 1121, thereby making it easier to extend into the gas chamber module 12 to achieve projectile delivery, while also providing a sealing effect on one end of the gas chamber module 12.

[0122] In this embodiment, the sliding protrusion 1122 is connected to the guide groove 1112; the long baffle 1123 is located on the side of the hammer head 1121 opposite the feed hole 1111. In this embodiment, since the guide groove 1112 and the feed hole 1111 are arranged opposite each other and radially relative to the hammer head 1121, the sliding protrusion 1122 and the long baffle 1123 are also located opposite each other. In this embodiment, the sliding protrusion 1122 is radially protruding on the side near the rear end of the hammer head 1121 to facilitate mating with the guide groove 1112. In this embodiment, the sliding protrusion 1122 is chamfered toward the front end of the hammer head 1121 to ensure smooth sliding of the sliding protrusion 1122. In this embodiment, the long baffle 1123 is an elongated strip, with one end connected to the rear end of the hammer head 1121 and the other end extending freely away from the hammer head 1121. In this embodiment, the outer side surface of the long baffle 1123 can be set to a curved surface to achieve cooperation with the inner side surface of the hollow part of the bullet feeding body 111.

[0123] Through the above arrangement, by providing a sliding protrusion on the hammer head and slidingly connecting it with the guide groove on the feed body, the hammer head's direction is effectively guaranteed to be constant and accurate during operation, thereby facilitating the operation accuracy of the hammer head. Furthermore, the provided sliding protrusion and guide groove effectively suppress the rotation of the hammer head, thereby effectively ensuring the stability of the connection between the hammer head and the drive cylinder and effectively preventing loosening of the connection position. Furthermore, by further providing a long baffle on the hammer head, the feed hole can be closed after the delivery of the projectile is completed, thereby preventing the entry of subsequent projectiles and effectively ensuring the normal cycle operation of the present invention.

[0124] like Figure 9 As shown, according to one embodiment of the present invention, a plurality of end grooves 1121a are arranged at intervals at the front end of the hammer head 1121 along the circumference of the hammer head 1121. In this embodiment, the end grooves 1121a connect the inner and outer sides of the front end of the hammer head 1121, wherein the end grooves 1121a include: a first groove portion and a second groove portion. The first groove portion is arranged on the end face of the front end of the hammer head 1121, and the second groove portion is arranged at the edge position of the spherical groove, and the first groove portion and the second groove portion are connected. In this embodiment, the first groove portion is a cylindrical groove, the second groove portion is a conical groove or a spherical groove, and the small opening end of the second groove portion is connected to the first groove portion. After the projectile is fed into the air chamber body 121, the hammer head 1121 itself serves to seal the rear end of the air chamber body 121. Since the hammer head 1121 is in direct contact with the rear end of the projectile, uneven force may be applied to the rear end of the projectile. The air pressure channel can be fully discharged through the end groove 1121a provided above to increase the air pressure at the rear end of the projectile, which can reduce or eliminate the pressure of the hammer head 1121 on the projectile, making the force applied to the projectile more uniform.

[0125] Combine Figure 4 、 Figure 5 、 Figure 10 、 Figure 11 and Figure 12As shown, according to one embodiment of the present invention, the gas chamber module 12 includes: a gas chamber body 121, a feed end film 122 and a launch end film 123 disposed on opposite sides of the gas chamber body 121, and an ejection tube 124. In this embodiment, the gas chamber body 121 is a hollow cylinder, with a launch air inlet pipe 121a disposed on one side wall thereof, communicating with the hollow portion. In this embodiment, the feed end film 122 includes: a first annular portion 122a and a first annular protrusion 122b disposed on one side of the first annular portion 122a; the inner diameter of the first annular portion 122a is smaller than the diameter of the projectile (for example, if the projectile diameter is 42 mm, the inner diameter of the first annular portion 122a can be set to 40 mm). In this embodiment, the launch end film 123 includes: a second annular portion 123a and a second annular protrusion 123b disposed on one side of the second annular portion 123a. In this embodiment, the inner diameter of the second annular portion 123a is smaller than the diameter of the projectile (for example, if the projectile diameter is 42 mm, the inner diameter of the second annular portion 123a can be set to 40 mm). In this embodiment, the end of the gas chamber body 121 connected to the feeding end film 122 is provided with a first fitting groove 121b that matches the first annular protrusion 122b; and the end of the ejection tube 124 connected to the gas chamber body 121 is provided with a second fitting groove that matches the second annular protrusion 123b. In another embodiment, the second fitting groove that matches the second annular protrusion 123b can also be provided at the emission end (i.e., the front end) of the gas chamber body 121. The arrangement thereof is consistent with the above-described arrangement and is not further described here.

[0126] In this embodiment, the inner side edges of the first annular portion 122a and the second annular portion 123a may be configured to be chamfered, thereby ensuring airtightness while facilitating the passage of the projectile.

[0127] In this embodiment, the front end of the feed body 111 is connected to the feed end (i.e., the rear end) of the gas chamber body 121 via a threaded connection. A sealing effect is achieved at the connection point by positioning the feed end rubber sheet 122 between the feed body 111 and the gas chamber body 121. Furthermore, the first annular protrusion 122b provided on the feed end rubber sheet 122 is connected to the first engaging groove 121b, thereby ensuring a secure position of the feed end rubber sheet 122 relative to the gas chamber body 121, further effectively ensuring airtightness at the connection point.

[0128] In this embodiment, the end of the ejection tube 124 is also connected to the emission end (i.e., the front end) of the gas chamber body 121 by a threaded connection. Since the emission end film 123 is located between the ejection tube 124 and the gas chamber body 121, the connection position is sealed. At the same time, the second annular protrusion 123b provided on the emission end film 123 effectively ensures the installation accuracy and installation reliability of the emission end film 123.

[0129] In this embodiment, the front outer side of the hammer head 1121 is tapered. After the hammer head 1121 pushes the projectile into the air chamber body 121, the front end of the hammer head 1121 abuts against the inner surface of the first annular protrusion 122b, thereby sealing the rear end of the air chamber module 12. Simultaneously, the hammer head 1121 abuts against the inner surface of the second annular portion 123a of the firing end film 123, sealing the front end of the air chamber module 12. This creates an airtight space in the air chamber module 12.

[0130] In this embodiment, the hollow portion of the gas chamber body 121, adjacent to the feed end film 122, is radially enlarged to fully allow the hammer head 1121 to extend into the cavity and increase the volume of the cavity of the gas chamber body 121 in a sealed state, thereby ensuring sufficient and effective launch of the projectile. In addition, the radial expansion of the end of the gas chamber body 121 adjacent to the feed end film 122 effectively reduces the resistance to unidirectional tilting of the feed end film 122, making it easier for the feed end film 122 to tilt toward the gas chamber body 121 and elastically expanding its caliber, thereby achieving a one-way limiting effect, facilitating the entry of the projectile, effectively preventing the projectile from escaping, and ensuring the launch stability of the pneumatic launcher under positive elevation conditions. Similarly, the hollow portion of the ejection tube 124 and the end adjacent to the launch end film 123 can also be radially expanded, effectively reducing the resistance of the launch end film 123 to unidirectional tilting, so that the launch end film 123 is easier to tilt in the ejection direction and the caliber is elastically expanded, thereby achieving a one-way ejection effect to facilitate the ejection of the projectile, and at the same time effectively avoiding the escape of the projectile under the negative elevation angle of the pneumatic launch device to ensure the launch stability.

[0131] According to one embodiment of the present invention, the ammunition feeding body 111 and the gas chamber body 121 are respectively manufactured by CNC machining of 6061 aluminum alloy, which can reduce the structural weight as much as possible while ensuring that it can withstand the compressed air pressure of the gas chamber.

[0132] According to one embodiment of the present invention, the feeding hammer 112 and the ejection tube 124 are manufactured by additive manufacturing using resin materials, which can reduce the structural weight as much as possible while ensuring basic strength.

[0133] like Figure 13As shown, according to one embodiment of the present invention, the air inlet of the quick exhaust valve 16 is connected to the first two-position five-way solenoid valve 15a, the air outlet thereof is connected to the emission air inlet pipe 121a, and the air outlet thereof is provided with an air storage structure 161. In this embodiment, the air storage structure 161 comprises: a hollow air storage pipe 161a and a sealing plug 161b provided at one end of the air storage pipe 161a; the end of the air storage pipe 161a away from the sealing plug 161b is sealedly connected to the air outlet of the quick exhaust valve 16. In this embodiment, in order to achieve the connection between the air storage pipe 161a and the quick exhaust valve 16, an adapter can be provided at the end of the air storage pipe 161a to achieve a matching connection with the air outlet of the quick exhaust valve 16. In this embodiment, the air storage pipe 161a can be made of a steel pipe with a diameter of 60 mm.

[0134] Through the above arrangement, the present invention creatively improves the quick exhaust valve 16 by providing a gas storage structure 161 at its outlet. This allows gas from the gas source to be stored in the gas storage structure 161. When the quick exhaust valve 16 is actuated, the gas in the gas storage structure 161 is quickly flushed into the gas chamber module 12, thereby achieving the launch of the projectile. Specifically, by controlling the two-position five-way solenoid valve to control the reversal of the quick exhaust valve, the gas storage structure is inflated and the quick exhaust is exhausted, completing the launch action.

[0135] In addition, the present invention can also achieve quantitative and constant pressure storage of the launch gas through the gas storage structure 161 set on the quick exhaust valve 16, effectively ensuring that the pressure and volume of the compressed gas used in each launch are basically consistent, effectively ensuring that the speed and distance of the projectile each time are basically consistent, and further effectively ensuring the shooting accuracy of the present invention.

[0136] According to one embodiment of the present invention, the feeding end film 122 and the launching end film 123 are made of a soft rubber material with a hardness of 50HB. The above-mentioned configuration of the feeding end film 122 and the launching end film 123 can maximize wear resistance and extend service life while ensuring basic sealing requirements.

[0137] To further verify the effectiveness of the pneumatic launcher of the present invention, a corresponding pneumatic launcher was constructed based on the above setup and tested. Through actual testing, using a RoboMaster 42mm racing projectile at a pressure of 0.4 MPa and measuring with a RoboMaster velocity measurement module, the muzzle velocity after full acceleration was 16 m / s.

[0138] In actual testing, using the above experimental parameters, at a distance of 8 meters, using an electronic target (which records the impact point in real time and generates comprehensive results), shooting accuracy is expressed as the radius of the dispersion circle. After 10 shots, the dispersion circle radius was 3.7 cm.

[0139] The above contents are merely examples of specific solutions of the present invention. For devices and structures not described in detail, it should be understood that they can be implemented by adopting general devices and methods available in the art.

[0140] The above description is merely one embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A competition robot, characterized in that: include: A pneumatic launching device (1), a mechanical arm device (2) for supporting and adjusting the launching angle of the pneumatic launching device (1), and a robot chassis (3) for supporting the mechanical arm device (2); The pneumatic launching device (1) comprises: a launching mechanism unit (1a) and an air path unit (1b); The firing mechanism unit (1a) comprises: a bullet feeding module (11), a gas chamber module (12) and a driving cylinder (13); The gas chamber module (12) is connected to the ammunition feeding module (11), and the gas chamber module (12) is located at the front end of the ammunition feeding module (11); The driving cylinder (13) is connected to the bullet feeding module (11) and is used to push the projectile in the bullet feeding module (11) into the gas chamber module (12); The gas circuit unit (1b) comprises: an air source (14), a first two-position five-way solenoid valve (15a) and a second two-position five-way solenoid valve (15b) connected to the air source (14), and a quick exhaust valve (16); The quick exhaust valve (16) is connected to the first two-position five-way solenoid valve (15a) and the air chamber module (12) respectively, and is used to launch the projectile in the air chamber module (12); The driving cylinder (13) is connected to the second two-position five-way solenoid valve (15b); The ammunition feeding module (11) comprises: an ammunition feeding body (111), and an ammunition feeding hammer (112) slidably connected to the ammunition feeding body (111); The ammunition feeding body (111) is a hollow columnar body with openings at both ends, and a bullet feeding hole (1111) communicating with the hollow portion of the ammunition feeding body (111) is provided on one side of the ammunition feeding body (111); A guide groove (1112) is provided on the inner side wall of the bullet feeding body (111) along the axial direction of the bullet feeding body (111); The feeding hammer (112) comprises a hammer head (1121), a sliding protrusion (1122) connected to the hammer head (1121), and a long baffle (1123); The hammer head (1121) is slidably connected to the hollow portion of the bullet feeding body (111), and the hammer head (1121) is connected to the piston rod of the driving cylinder (13); The sliding protrusion (1122) is connected to the guide groove (1112); The long baffle (1123) is located on a side of the hammer head (1121) opposite to the bullet feeding hole (1111); The gas chamber module (12) comprises: a gas chamber body (121), a feeding end film (122) and a firing end film (123) arranged on opposite sides of the gas chamber body (121), and an ejection tube (124); The air chamber body (121) is in the form of a hollow column, and a launch air inlet pipe (121a) communicating with the hollow portion thereof is provided on one side wall thereof; The feeding end film (122) comprises: a first annular portion (122a) and a first annular protrusion (122b) provided on one side of the first annular portion (122a); The inner diameter of the first annular portion (122a) is smaller than the diameter of the projectile; The emission end film (123) comprises: a second annular portion (123a) and a second annular protrusion (123b) provided on one side of the second annular portion (123a); The inner diameter of the second annular portion (123a) is smaller than the diameter of the projectile; One end of the gas chamber body (121) connected to the feeding end film (122) is provided with a first engaging groove (121b) matching the first annular protrusion (122b); One end of the ejection tube (124) connected to the gas chamber body (121) is provided with a second fitting groove matching the second annular protrusion (123b).

2. The competition robot according to claim 1, characterized in that: The air inlet of the quick exhaust valve (16) is connected to the first two-position five-way solenoid valve (15a), the air outlet is connected to the launch air inlet pipe (121a), and the air outlet is provided with an air storage structure (161); The gas storage structure (161) comprises: a hollow gas storage pipe (161a) and a sealing plug (161b) provided at one end of the gas storage pipe (161a); One end of the gas storage pipe (161a) away from the sealing plug (161b) is sealedly connected to the gas outlet of the quick exhaust valve (16).

3. The competition robot according to claim 2, characterized in that: The manipulator device (2) comprises: a manipulator base (21), a first supporting portion (22) and a second supporting portion (23) supported on the manipulator base (21), a pitch adjustment seat (24) provided on a side opposite to the first supporting portion (22) and the second supporting portion (23), a mounting seat (25) connected to the pitch adjustment seat (24) and used for mounting the pneumatic launch device (1), a conveyor chain structure (26) mounted on the second supporting portion (23) and used for conveying projectiles, and a rotation drive (27) connected to the manipulator base (21) and used for driving the manipulator base (21) to rotate; The ammunition feeding module (11), the driving cylinder (13), the air source (14), the first two-position five-way solenoid valve (15a), the second two-position five-way solenoid valve (15b) and the quick exhaust valve (16) are respectively connected to the mounting seat (25); One end of the second supporting portion (23) away from the mechanical arm base (21) is connected to the bullet feeding hole (1111) of the bullet feeding module (11), and the second supporting portion (23) is rotatably connected to the bullet feeding module (11).

4. The competition robot according to claim 3, characterized in that: The robot chassis (3) comprises: a chassis body (31), a supporting connection seat (32), a driving wheel set (33) and a magazine; The support connection seat (32) is supported on the upper side of the chassis body (31); The magazine and the driving wheel assembly (33) are connected to the lower side of the chassis body (31); The mechanical arm base (21) is rotatably connected to the support connection seat (32), and the rotation drive (27) is supported on the chassis body (31) adjacent to the support connection seat (32); The support connection seat (32) is provided with a hollow channel, and the magazine and the conveying chain structure (26) are respectively connected to two ends of the hollow channel.

5. A pneumatic launching device for a competition robot, characterized in that: include: A launching mechanism unit (1a) and an air path unit (1b); The firing mechanism unit (1a) comprises: a bullet feeding module (11), a gas chamber module (12) and a driving cylinder (13); The gas chamber module (12) is connected to the ammunition feeding module (11), and the gas chamber module (12) is located at the front end of the ammunition feeding module (11); The driving cylinder (13) is connected to the bullet feeding module (11) and is used to push the projectile in the bullet feeding module (11) into the gas chamber module (12); The gas circuit unit (1b) comprises: an air source (14), a first two-position five-way solenoid valve (15a) and a second two-position five-way solenoid valve (15b) connected to the air source (14), and a quick exhaust valve (16); The quick exhaust valve (16) is connected to the first two-position five-way solenoid valve (15a) and the air chamber module (12) respectively, and is used to launch the projectile in the air chamber module (12); The driving cylinder (13) is connected to the second two-position five-way solenoid valve (15b); The ammunition feeding module (11) comprises: an ammunition feeding body (111), and an ammunition feeding hammer (112) slidably connected to the ammunition feeding body (111); The ammunition feeding body (111) is a hollow columnar body with openings at both ends, and a bullet feeding hole (1111) communicating with the hollow portion of the ammunition feeding body (111) is provided on one side of the ammunition feeding body (111); A guide groove (1112) is provided on the inner side wall of the bullet feeding body (111) along the axial direction of the bullet feeding body (111); The feeding hammer (112) comprises a hammer head (1121), a sliding protrusion (1122) connected to the hammer head (1121), and a long baffle (1123); The hammer head (1121) is slidably connected to the hollow portion of the bullet feeding body (111), and the hammer head (1121) is connected to the piston rod of the driving cylinder (13); The sliding protrusion (1122) is connected to the guide groove (1112); The long baffle (1123) is located on a side of the hammer head (1121) opposite to the bullet feeding hole (1111); The gas chamber module (12) comprises: a gas chamber body (121), a feeding end film (122) and a firing end film (123) arranged on opposite sides of the gas chamber body (121), and an ejection tube (124); The air chamber body (121) is in the form of a hollow column, and a launch air inlet pipe (121a) communicating with the hollow portion thereof is provided on one side wall thereof; The feeding end film (122) comprises: a first annular portion (122a) and a first annular protrusion (122b) provided on one side of the first annular portion (122a); The inner diameter of the first annular portion (122a) is smaller than the diameter of the projectile; The emission end film (123) comprises: a second annular portion (123a) and a second annular protrusion (123b) provided on one side of the second annular portion (123a); The inner diameter of the second annular portion (123a) is smaller than the diameter of the projectile; One end of the gas chamber body (121) connected to the feeding end film (122) is provided with a first engaging groove (121b) matching the first annular protrusion (122b); One end of the ejection tube (124) connected to the gas chamber body (121) is provided with a second fitting groove matching the second annular protrusion (123b).

6. The pneumatic launching device according to claim 5, characterized in that: The air inlet of the quick exhaust valve (16) is connected to the first two-position five-way solenoid valve (15a), the air outlet is connected to the launch air inlet pipe (121a), and the air outlet is provided with an air storage structure (161); The gas storage structure (161) comprises: a hollow gas storage pipe (161a) and a sealing plug (161b) provided at one end of the gas storage pipe (161a); One end of the gas storage pipe (161a) away from the sealing plug (161b) is sealedly connected to the gas outlet of the quick exhaust valve (16); The feeding end film (122) and the launching end film (123) are made of a soft rubber material with a hardness of 50HB.

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