A working method of a shooting robot

Abstract

The application provides a working method of a shooting robot, and the specific steps comprise the following steps: (1) moving a walking mechanism; (11) when the walking mechanism encounters uneven ground; (12) avoiding shock through a shock absorber; (13) a shock absorber rod limits the first moving wheel assembly and the second moving wheel assembly to always keep vertical movement; (2) when shooting is needed; (21) a bomb cabin assembly delivers small balls into a conveying assembly; (22) the conveying assembly conveys the small balls to a launching device; and (23) the launching device shoots the small balls.

Description

Technical Field

[0001] This invention relates to the field of shooting robot technology, and more specifically to a method for operating a shooting robot. Background Technology

[0002] With the rapid development of artificial intelligence, intelligent robots have entered all walks of life. In order to improve the learning and hands-on skills of college students, robot competition projects have gradually come into people's view.

[0003] Mobile shooting robots have been widely used in robotics competitions, material delivery, entertainment, and sports training. Existing shooting robots generally consist of two parts: a gimbal and a chassis. The gimbal includes the launching device and image transmission system. The launching device often uses friction wheels to launch small projectiles by squeezing and rubbing them. The gimbal is mounted on the chassis via a support plate, and a drive motor enables relative rotation between the gimbal, chassis, and launching device. The chassis often uses Mecanum wheel chassis with omnidirectional mobility, or a steering wheel chassis for rapid movement and multi-directional travel.

[0004] However, the traditional steering wheel chassis cannot meet the requirements for all-terrain movement, has high environmental requirements, and poor shock absorption performance. Therefore, the existing steering wheel chassis can generally only be used in flat terrain such as indoors, and it moves slowly when moving on uneven terrain. Summary of the Invention

[0005] The purpose of this invention is to provide a working method for a shooting robot. This method enables the shooting robot to adapt to shooting competitions in different terrains and is simple to operate.

[0006] To achieve the above objectives, a method for operating a shooting robot is provided. The shooting robot includes a walking mechanism and a launching mechanism. The walking mechanism includes a walking base and a moving device. The moving device is disposed on both sides of the walking base, and the launching mechanism is disposed at the center of the walking base.

[0007] The mobile device includes a balance bracket, a first moving wheel assembly, a second moving wheel assembly, and a shock-absorbing assembly. The balance bracket is disposed on both sides of the walking base, and shock-absorbing assemblies are provided on both sides of the balance bracket. The first moving wheel assembly is disposed on one side of the balance bracket through the shock-absorbing assembly, and the second moving wheel assembly is disposed on the other side of the balance bracket through the shock-absorbing assembly.

[0008] The shock absorption assembly includes a shock absorber, a shock absorber rod, and a shock absorber connecting block. The first and second moving wheel assemblies are connected to the balance bracket via the shock absorber connecting block. One end of the shock absorber is hinged to the top of the balance bracket, and a shock absorber mounting seat is provided at the bottom of the shock absorber connecting block. The other end of the shock absorber is hinged to the shock absorber mounting seat. One end of the shock absorber rod is rotatably connected to the side of the balance bracket via a first shock absorber shaft, and the other end of the shock absorber rod is rotatably connected to the shock absorber connecting block via a second shock absorber shaft.

[0009] The launching mechanism includes a launching base, a launching device, and a transport device. The launching base is located at the center of the mobile base, and the launching device is mounted on the launching base. The transport device is mounted on the launching device. The transport device includes a missile compartment assembly and a transport assembly. The transport assembly is mounted on the launching device, and the missile compartment assembly is mounted on the transport assembly.

[0010] The specific steps include: (1) The walking mechanism moves.

[0011] (11) When the walking mechanism encounters uneven ground.

[0012] (12) Use shock absorbers for shock absorption.

[0013] (13) The shock absorber bar restricts the first and second moving wheel assemblies to always maintain vertical movement.

[0014] (2) When shooting is required.

[0015] (21) The bomb bay assembly delivers the ball into the transport assembly.

[0016] (22) The transport component transports the ball to the launching device.

[0017] (23) The launching device launches the ball.

[0018] The aforementioned structure, by incorporating shock-absorbing components, enables the shooting robot to achieve better shock absorption when walking on uneven ground, maintaining excellent stability and adapting to more terrains. When the walking mechanism moves, if either the first or second moving wheel assembly contacts uneven ground, the raised ground causes the first moving wheel assembly to move upwards, while the recessed ground causes it to move downwards due to its own weight. The shock-absorbing rod's linkage restricts this movement, ensuring the first moving wheel assembly remains vertical. This allows for better shock absorption, preventing the first moving wheel assembly from tilting and slipping due to raised or recessed ground. Consequently, the friction area between the first moving wheel assembly and the ground is always maximized, resulting in more stable movement and enabling the shooting robot to move and fire on various terrains.

[0019] Furthermore, the first moving wheel assembly includes a first moving component and a first steering component. The first steering component includes a first steering base, a first steering motor, a first steering bearing, and a first steering connecting seat. The first steering base is connected to a shock-absorbing connecting block. A first through hole is provided at the center of the first steering base. The first steering motor is provided on the first steering base above the first through hole. The first steering bearing is provided inside the first through hole. The outer ring of the first steering bearing is fixedly connected to the inner wall of the first through hole. The first steering connecting seat is provided at the top of the inner ring of the first steering bearing. The drive shaft of the first steering motor is connected to the first steering connecting seat. The first moving component is connected to the bottom of the inner ring of the first steering bearing.

[0020] The above configuration uses a first steering motor to drive a first steering connector, which in turn drives the inner ring of the first steering bearing to rotate. This, in turn, drives the first moving component connected to the inner ring of the first steering bearing to rotate. The structure is simple and effective.

[0021] Furthermore, the first moving component includes a first moving bracket, a first moving motor, a first moving wheel, a first moving bearing, and a first moving connecting block. The first moving bracket is disposed at the bottom end of the first steering bearing. The first moving motor is disposed on one side of the first moving bracket. The first moving bearing is disposed on the other side of the first moving bracket. The first moving connecting block is rotatably disposed on the first moving bearing via a first moving connecting shaft. The drive shaft of the first moving motor is connected to the first moving connecting block. The first moving wheel is disposed on the first moving connecting block.

[0022] With the above configuration, the first moving connecting block is driven to rotate by the first moving motor, which in turn drives the first moving wheel to rotate, thereby enabling the walking mechanism to move.

[0023] Furthermore, the second moving wheel assembly includes a second moving component and a second steering component. The second steering component includes a second steering base, a second steering motor, a second steering bearing, and a second steering connecting seat. The second steering base is connected to a shock-absorbing connecting block. A second through hole is provided at the center of the second steering base. A second steering motor is provided on the second steering base above the second through hole. A second steering bearing is provided inside the second through hole. The outer ring of the second steering bearing is fixedly connected to the inner wall of the second through hole. A second steering connecting seat is provided at the top of the inner ring of the second steering bearing. The drive shaft of the second steering motor is connected to the second steering connecting seat. A second moving component is connected to the bottom of the inner ring of the second steering bearing.

[0024] The above configuration uses a second steering motor to drive a second steering connector, which in turn drives the inner ring of the second steering bearing to rotate. This, in turn, drives the second moving component connected to the inner ring of the second steering bearing to rotate. The structure is simple and effective.

[0025] Furthermore, the second moving component includes a second moving bracket, a second moving motor, a second moving wheel, a second moving bearing, and a second moving connecting block. The second moving bracket is located at the bottom end of the second steering bearing. The second moving motor is located on one side of the second moving bracket, and the second moving bearing is located on the other side of the second moving bracket. The second moving connecting block is rotatably mounted on the second moving bearing via a second moving connecting shaft. The drive shaft of the second moving motor is connected to the second moving connecting block, and the second moving wheel is located on the second moving connecting block.

[0026] With the above configuration, the second moving connecting block is driven to rotate by the second moving motor, which in turn drives the second moving wheel to rotate, thereby enabling the walking mechanism to move.

[0027] Furthermore, a protective bar is provided around the perimeter of the walking base, surrounding the moving device. This design prevents accidental collisions with objects during rapid movement; the protective bar helps protect the walking mechanism from damage.

[0028] Furthermore, the delivery device includes a bomb bay assembly and a transport assembly. The transport assembly is mounted on the launching device, and the bomb bay assembly is mounted on the transport assembly. The bomb bay assembly includes a bomb bay, a hatch, and a guide plate. The bomb bay is mounted on the transport assembly. A transport through hole is provided at the center of the bomb bay. A guide plate is provided on the inner wall of the bomb bay. The guide plate extends downward from the inner wall of the bomb bay to the transport through hole. A sliding groove is provided on the side wall at the upper end of the bomb bay. Sliding rods are provided on both sides of the hatch. The hatch is placed at the top of the bomb bay. The sliding rods are located in the sliding groove, and the hatch slides along the sliding groove via the sliding rods.

[0029] The above setup, through the action of the guide plate, allows the small balls replenished into the bomb bay to fall more accurately into the delivery through-hole, thereby facilitating the replenishment of small balls by the launching device.

[0030] Furthermore, an opening assembly is provided at one end of the bomb bay. The opening assembly includes an opening motor and an opening gear. The opening motor is located on the inner wall of the bomb bay. An opening gear is provided on the drive shaft of the opening motor. The hatch cover has one or more gear holes corresponding to the opening gear. The teeth of the opening gear are engaged in the gear holes.

[0031] Step (21) specifically includes the following when there are insufficient small balls in the bomb bay: (211) The cover-opening motor drives the cover-opening gear to rotate.

[0032] (212) The cover is opened by the opening gear.

[0033] (213) Replenish the small balls.

[0034] The above setup uses a cover-opening motor to drive a cover-opening gear. The rotating cover-opening gear engages with a gear hole, which in turn moves the cover, thus enabling the bomb bay to open for replenishment of small balls. The structure is simple and effective.

[0035] Furthermore, the transport assembly includes a transport bracket, a dial, a transport motor, a dial connecting block, and a toothed plate. The dial is located below the ammunition compartment, and the opening of the dial corresponds to the transport through hole. The dial is mounted on the launching device via the transport bracket. A transport motor is located at the bottom of the dial. The drive shaft of the transport motor extends into the dial and is connected to the dial connecting block. The toothed plate has one or more teeth and is connected to the dial connecting block. The toothed plate has one or more teeth, forming a transport interval between each adjacent tooth.

[0036] With the above setup, the small ball inside the missile compartment falls into the dial through the transport through hole and is located within the transport zone. When the small ball needs to be transported, the transport motor drives the dial connecting block to rotate, thereby driving the dial tooth plate to rotate, which in turn drives the small ball to be transported to the launching device.

[0037] Furthermore, a transport channel is provided on the outer wall of the dial, the transport channel extends into the dial, and the transport channel is correspondingly set with the transport interval; a transport limiting plate is provided in the dial on one side of the transport channel, the transport limiting plate is located between the toothed plate at the bottom of the dial and the adjacent toothed plate; the end of the transport channel away from the dial corresponds to the launching device.

[0038] Step (22) specifically includes: (221) The ball falls into the transport section.

[0039] (222) The conveyor motor drives the toothed plate to rotate; the small ball is driven by the toothed plate to move in the direction of the conveyor channel.

[0040] (223) The conveying limit plate blocks and guides the ball, so that the ball enters the conveying channel along the conveying limit plate.

[0041] (224) The ball is launched through the transport channel.

[0042] The above configuration, through the setting of the conveying limit plate, when the ball is driven to the conveying channel by the toothed plate, the conveying limit plate blocks the ball, allowing the ball to smoothly enter the conveying channel and be conveyed to the launching device. The structure is simple and effective. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the shooting robot of the present invention.

[0044] Figure 2This is a schematic diagram of the structure of the mobile device of the present invention.

[0045] Figure 3 This is an exploded view of the first moving wheel assembly of the present invention.

[0046] Figure 4 This is an exploded view of the second moving wheel assembly of the present invention.

[0047] Figure 5 This is an exploded schematic diagram of the bomb bay assembly of the present invention.

[0048] Figure 6 This is a schematic diagram of the transport component of the present invention.

[0049] Figure 7 This is a top view of the transport component of the present invention.

[0050] Figure 8 This is an internal structural diagram of the transport component of the present invention.

[0051] Figure 9 This is a flowchart illustrating the workflow of the shooting robot of the present invention. Detailed Implementation

[0052] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0053] like Figures 1 to 8 As shown, a shooting robot includes a walking mechanism 1 and a launching mechanism 2. The walking mechanism 1 includes a walking base 10 and a moving device 3. The moving device 3 is arranged on both sides of the walking base 10, and the launching mechanism 2 is arranged at the center of the walking base 10.

[0054] The mobile device 3 includes a balance bracket 31, a first moving wheel assembly 4, a second moving wheel assembly 5, and a shock-absorbing assembly 6. The balance bracket 31 is disposed on both sides of the walking base 10, and the shock-absorbing assembly 6 is provided on both sides of the balance bracket 31. The first moving wheel assembly 4 is disposed on one side of the balance bracket 31 through the shock-absorbing assembly 6. The second moving wheel assembly 5 is disposed on the other side of the balance bracket 31 through the shock-absorbing assembly 6.

[0055] The shock absorption assembly 6 includes a shock absorber 61, a shock absorber rod 62, and a shock absorber connecting block 63. The first moving wheel assembly 4 and the second moving wheel assembly 5 are connected to the balance bracket 31 through the shock absorber connecting block 63. One end of the shock absorber 61 is hinged to the top of the balance bracket 31, and a shock absorber mounting seat 64 is provided at the bottom of the shock absorber connecting block 63. The other end of the shock absorber 61 is hinged to the shock absorber mounting seat 64. One end of the shock absorber rod 62 is rotatably connected to the side of the balance bracket 31 through a first shock absorber shaft 65, and the other end of the shock absorber rod 62 is rotatably connected to the shock absorber connecting block 63 through a second shock absorber shaft 66.

[0056] The launching mechanism 2 includes a launching base 21, a launching device 22, and a conveying device 23. The launching base 21 is located at the center of the walking base 10, the launching device 22 is provided on the launching base 21, and the conveying device 23 is provided on the launching device 22.

[0057] In this embodiment, the launching device is a device that uses a friction wheel to rub and squeeze the ball and launch it. This is existing technology and will not be described in detail here.

[0058] The above structure, by incorporating the shock-absorbing component 6, enables the shooting robot to achieve better shock absorption when walking on uneven ground, maintaining excellent stability and adapting to more terrains. When the walking mechanism 1 moves, if the first moving wheel assembly 4 or the second moving wheel assembly 5 contacts the uneven ground, the protruding ground causes the first moving wheel assembly 4 to move upward, while the concave ground causes it to move downward due to its own weight. At this time, the linkage of the shock-absorbing rod 62 ensures that the first moving wheel assembly 4 remains vertically moving up and down. This allows the shock absorber 61 to better absorb shocks and prevents the first moving wheel assembly 4 from tilting and slipping due to protruding or concave ground. As a result, the friction area between the first moving wheel assembly 4 and the ground is always maximized, making the movement more stable and enabling the shooting robot to move and shoot on various terrains.

[0059] like Figure 3 As shown, the first moving wheel assembly 4 includes a first moving component 41 and a first steering component 42. The first steering component 41 includes a first steering base 411, a first steering motor 412, a first steering bearing 413, and a first steering connecting seat 414. The first steering base 411 is connected to a shock-absorbing connecting block 63. A first through hole 410 is provided at the center of the first steering base 411. The first steering motor 412 is provided on the first steering base 411 above the first through hole 410. The first steering bearing 413 is provided inside the first through hole 410. The outer ring of the first steering bearing 413 is fixedly connected to the inner wall of the first through hole 410. The first steering connecting seat 414 is provided at the top of the inner ring of the first steering bearing 413. The drive shaft of the first steering motor 412 is connected to the first steering connecting seat 414. The first moving component 42 is connected to the bottom of the inner ring of the first steering bearing 413.

[0060] The above configuration drives the first steering connector 414 via the first steering motor 412, thereby causing the inner ring of the first steering bearing 413 to rotate. This, in turn, causes the first moving component 42 connected to the inner ring of the first steering bearing 413 to rotate. The structure is simple and effective.

[0061] like Figure 3As shown, the first moving component 42 includes a first moving bracket 421, a first moving motor 422, a first moving wheel 423, a first moving bearing 424, and a first moving connecting block 425. The first moving bracket 421 is disposed at the bottom end of the first steering bearing 413. The first moving motor 422 is disposed on one side of the first moving bracket 421, and the first moving bearing 424 is disposed on the other side of the first moving bracket 421. The first moving connecting block 425 is rotatably disposed on the first moving bearing 424 via a first moving connecting shaft (not shown in the figure). The drive shaft of the first moving motor 422 is connected to the first moving connecting block 425, and the first moving wheel 423 is disposed on the first moving connecting block 425.

[0062] The above configuration allows the first moving connecting block 425 to rotate via the first moving motor 422, which in turn drives the first moving wheel 423 to rotate, thus enabling the walking mechanism to move.

[0063] like Figure 4 As shown, the second moving wheel assembly 5 includes a second moving component 51 and a second steering component 52. The second steering component 51 includes a second steering base 511, a second steering motor 512, a second steering bearing 513, and a second steering connecting seat 514. The second steering base 511 is connected to a shock-absorbing connecting block 63. A second through hole 510 is provided at the center of the second steering base 511. The second steering motor 512 is provided on the second steering base 511 above the second through hole 510. The second steering bearing 513 is provided inside the second through hole 510. The outer ring of the second steering bearing 513 is fixedly connected to the inner wall of the second through hole 510. The second steering connecting seat 514 is provided at the top of the inner ring of the second steering bearing 513. The drive shaft of the second steering motor 512 is connected to the second steering connecting seat 514. The second moving component 52 is connected to the bottom of the inner ring of the second steering bearing 513.

[0064] The above configuration drives the second steering connector 514 via the second steering motor 512, thereby causing the inner ring of the second steering bearing 513 to rotate. This, in turn, causes the second moving part 52 connected to the inner ring of the second steering bearing 513 to rotate. The structure is simple and effective.

[0065] As shown in the figure, the second moving component 52 includes a second moving bracket 521, a second moving motor 522, a second moving wheel 523, a second moving bearing 524, and a second moving connecting block 525. The second moving bracket 521 is disposed at the bottom end of the second steering bearing 513. The second moving motor 522 is disposed on one side of the second moving bracket 521, and the second moving bearing 524 is disposed on the other side of the second moving bracket 521. The second moving connecting block 525 is rotatably disposed on the second moving bearing 524 via a second moving connecting shaft 526. The drive shaft of the second moving motor 522 is connected to the second moving connecting block 525, and the second moving wheel 523 is disposed on the second moving connecting block 525.

[0066] With the above configuration, the second moving connecting block is driven to rotate by the second moving motor, which in turn drives the second moving wheel to rotate, thereby enabling the walking mechanism to move.

[0067] like Figure 1 As shown, a protective rod 11 is provided around the periphery of the walking base 10, and the protective rod 11 surrounds the moving device 3. This design prevents the walking mechanism 1 from accidentally colliding with objects when moving rapidly. The protective rod 11 helps to prevent the structure of the walking mechanism 1 from being damaged by collisions, thus better protecting the walking mechanism.

[0068] like Figure 5 As shown, the conveying device 23 includes a bomb bay assembly 24 and a transport assembly 25. The transport assembly 25 is mounted on the launching device 22, and the bomb bay assembly 24 is mounted on the transport assembly 25. The bomb bay assembly 24 includes a bomb bay 241, a hatch 242, and a guide plate 243. The bomb bay 241 is mounted on the transport assembly 25, and a transport through hole 240 is provided at the center of the bomb bay 241. The guide plate 243 is provided on the inner wall of the bomb bay 241. The guide plate 243 extends downward at an angle from the inner wall of the bomb bay 241 to the transport through hole 240. The upper side wall is provided with a sliding groove 2401, and sliding rods 244 are provided on both sides of the hatch 242. The hatch 242 is placed at the top of the bomb bay 241, and the sliding rods 244 are set in the sliding groove 2401. The hatch 242 is slidably set along the sliding groove 2401 by means of the sliding rods 244. Connecting rods 2421 are provided on both sides of the hatch 242, and the sliding rods 244 are set on the connecting rods 2421. A hatch opening 2402 is provided at one end of the bomb bay 241, and the connecting rods 2421 move out of the bomb bay 241 along the hatch opening 2402.

[0069] The above configuration, through the action of the guide plate 243, allows the small balls replenished into the bomb bay 241 to fall more directly into the delivery through hole 240, thereby facilitating the replenishment of small balls by the launching device.

[0070] like Figure 5 As shown, an opening assembly is also provided at one end of the bomb compartment 241. The opening assembly includes an opening motor 245 and an opening gear 246. The opening motor 245 is disposed on the inner wall of the bomb compartment 241. The opening gear 246 is provided on the drive shaft of the opening motor 245. The cover 242 is provided with one or more gear holes 247 corresponding to the opening gear 246. The teeth of the opening gear 246 are engaged in the gear holes 247.

[0071] The above configuration involves the opening motor 245 driving the opening gear 246 to rotate. The opening gear 246 rotates and engages in the gear hole 247, thereby moving the hatch 242. This allows the bomb bay 241 to open for replenishment of small balls. The structure is simple and effective.

[0072] like Figures 6 to 8 As shown, the transport assembly 25 includes a transport bracket (not shown), a dial 251, a transport motor 252, a dial connecting block 253, and a toothed plate 254. The dial 251 is located below the ammunition compartment 241, and the opening of the dial 251 corresponds to the transport through hole 240. The dial is mounted on the launching device via the transport bracket. The transport motor 252 is located at the bottom of the dial 251. The drive shaft of the transport motor 252 extends into the dial 251 and is connected to the dial connecting block 253. The toothed plate 254 has one or more teeth and is connected to the dial connecting block 253. The toothed plate 254 has one or more teeth 255, and a transport interval 256 is formed between each adjacent tooth 255.

[0073] With the above configuration, the ball in the missile compartment 241 falls into the dial 251 through the transport through hole 240 and is located in the transport section 256. When the ball needs to be transported, the dial connecting block 253 is driven to rotate by the transport motor 252, which in turn drives the toothed plate 354 to rotate, thereby driving the ball to be transported to the launching device 22.

[0074] like Figure 7 and Figure 8 As shown, a transport channel 257 is provided on the outer wall of the dial 251, the transport channel 257 extends into the dial 251, and the transport channel 257 is correspondingly arranged with the transport section 256; a transport limiting plate 258 is provided in the dial 251 on one side of the transport channel 257, the transport limiting plate 258 is located between the paddle plate 254 at the bottom of the dial 251 and the adjacent paddle plate 254; the end of the transport channel 257 away from the dial 251 corresponds to the launching device 22.

[0075] The above configuration, through the setting of the conveying limiting plate 258, when the ball is driven to the conveying channel 256 by the toothed plate 254, the conveying limiting plate 258 blocks the ball, so that the ball can smoothly enter the conveying channel 256 and be conveyed to the launching device 22. The structure is simple and effective.

[0076] like Figure 9 As shown, a method for operating a shooting robot includes the following specific steps: (1) The walking mechanism moves.

[0077] (11) When the walking mechanism encounters uneven ground.

[0078] (12) Use shock absorbers for shock absorption.

[0079] (13) The shock absorber bar restricts the first and second moving wheel assemblies to always maintain vertical movement.

[0080] (2) When shooting is required.

[0081] (21) The bomb bay assembly delivers the ball into the transport assembly.

[0082] When there are not enough small balls in the bomb bay.

[0083] (211) The cover-opening motor drives the cover-opening gear to rotate.

[0084] (212) The cover is opened by the opening gear.

[0085] (213) Replenish the small balls.

[0086] (22) The transport component transports the ball to the launching device.

[0087] (221) The ball falls into the transport section.

[0088] (222) The conveyor motor drives the toothed plate to rotate; the small ball is driven by the toothed plate to move in the direction of the conveyor channel.

[0089] (223) The conveying limit plate blocks and guides the ball, so that the ball enters the conveying channel along the conveying limit plate.

[0090] (224) The ball is launched through the transport channel.

[0091] (23) The launching device launches the ball.

Claims

1. A method for operating a shooting robot, characterized in that: The shooting robot includes a walking mechanism and a launching mechanism. The walking mechanism includes a walking base and a moving device. The moving device is arranged on both sides of the walking base, and the launching mechanism is located at the center of the walking base. The mobile device includes a balance bracket, a first moving wheel assembly, a second moving wheel assembly, and a shock-absorbing assembly; the balance bracket is disposed on both sides of the walking base, and shock-absorbing assemblies are provided on both sides of the balance bracket; the first moving wheel assembly is disposed on one side of the balance bracket via the shock-absorbing assembly; the second moving wheel assembly is disposed on the other side of the balance bracket via the shock-absorbing assembly. The shock absorption assembly includes a shock absorber, a shock absorber rod, and a shock absorber connecting block. A first moving wheel assembly and a second moving wheel assembly are connected to a balance bracket via the shock absorber connecting block. One end of the shock absorber is hinged to the top of the balance bracket, and a shock absorber mounting seat is provided at the bottom of the shock absorber connecting block. The other end of the shock absorber is hinged to the shock absorber mounting seat. One end of the shock absorber rod is rotatably connected to the side of the balance bracket via a first shock absorber shaft, and the other end of the shock absorber rod is rotatably connected to the shock absorber connecting block via a second shock absorber shaft. The launching mechanism includes a launching base, a launching device, and a transport device. The launching base is located at the center of a traveling base, and the launching device is mounted on the launching base. The transport device is mounted on the launching device. The transport device includes a magazine assembly and a transport assembly. The transport assembly is mounted on the launching device, and the magazine assembly is mounted on the transport assembly. The transport assembly includes a toothed plate with one or more teeth. The ends of the teeth are arc-shaped and extend upwards. The first moving wheel assembly includes a first moving component and a first steering component. The first steering component includes a first steering base, a first steering motor, a first steering bearing, and a first steering connecting seat. The first steering base is connected to a shock-absorbing connecting block. A first through hole is provided at the center of the first steering base. A first steering motor is provided on the first steering base above the first through hole. A first steering bearing is provided inside the first through hole. The outer ring of the first steering bearing is fixedly connected to the inner wall of the first through hole. A first steering connecting seat is provided at the top of the inner ring of the first steering bearing. The drive shaft of the first steering motor is connected to the first steering connecting seat. A first moving component is connected to the bottom of the inner ring of the first steering bearing. The first moving component includes a first moving bracket, a first moving motor, a first moving wheel, a first moving bearing, and a first moving connecting block. The first moving bracket is located at the bottom end of the first steering bearing. The first moving motor is located on one side of the first moving bracket. The first moving bearing is located on the other side of the first moving bracket. The first moving connecting block is rotatably mounted on the first moving bearing via a first moving connecting shaft. The drive shaft of the first moving motor is connected to the first moving connecting block. The first moving wheel is located on the first moving connecting block. The second moving wheel assembly includes a second moving component and a second steering component. The second steering component includes a second steering base, a second steering motor, a second steering bearing, and a second steering connecting seat. The second steering base is connected to a shock-absorbing connecting block. A second through hole is provided in the center of the second steering base. A second steering motor is provided on the second steering base above the second through hole. A second steering bearing is provided inside the second through hole. The outer ring of the second steering bearing is fixedly connected to the inner wall of the second through hole. A second steering connecting seat is provided at the top of the inner ring of the second steering bearing. The drive shaft of the second steering motor is connected to the second steering connecting seat. A second moving component is connected to the bottom of the inner ring of the second steering bearing. The second moving component includes a second moving bracket, a second moving motor, a second moving wheel, a second moving bearing, and a second moving connecting block. The second moving bracket is located at the bottom end of the second steering bearing. The second moving motor is located on one side of the second moving bracket. The second moving bearing is located on the other side of the second moving bracket. The second moving connecting block is rotatably mounted on the second moving bearing via a second moving connecting shaft. The drive shaft of the second moving motor is connected to the second moving connecting block. The second moving wheel is located on the second moving connecting block. The specific steps include: (1) The walking mechanism moves; (11) When the walking mechanism encounters uneven ground; (12) Vibration damping is achieved through shock absorbers; (13) The shock absorber bar restricts the first and second moving wheel assemblies to always maintain vertical movement; (2) When shooting is required; (21) The bomb bay assembly transfers the sphere into the transport assembly; (22) The transport component transports the ball to the launching device; (23) The launching device launches the ball.

2. The working method of a shooting robot according to claim 1, characterized in that: A protective bar is provided around the perimeter of the walking base, and the protective bar surrounds the moving device.

3. The working method of a shooting robot according to claim 1, characterized in that: The bomb bay assembly includes a bomb bay, a hatch, and a guide plate. The bomb bay is mounted on a transport assembly. A transport through hole is provided in the center of the bomb bay. A guide plate is provided on the inner wall of the bomb bay. The guide plate extends downward from the inner wall of the bomb bay to the transport through hole. A sliding groove is provided on the side wall at the upper end of the bomb bay. Sliding rods are provided on both sides of the hatch. The hatch is placed at the top of the bomb bay. The sliding rods are located in the sliding groove. The hatch slides along the sliding groove via the sliding rods.

4. The working method of a shooting robot according to claim 3, characterized in that: An opening assembly is also provided at one end of the bomb bay. The opening assembly includes an opening motor and an opening gear. The opening motor is located on the inner wall of the bomb bay. An opening gear is provided on the drive shaft of the opening motor. The hatch cover has one or more gear holes corresponding to the opening gear. The teeth of the opening gear are engaged in the gear holes. Step (21) specifically includes the following when there are insufficient small balls in the bomb bay: (211) The cover-opening motor drives the cover-opening gear to rotate; (212) The cover is opened by the gear-driven mechanism; (213) Replenish the small balls.

5. The working method of a shooting robot according to claim 3, characterized in that: The transport assembly includes a transport bracket, a dial, a transport motor, a dial connecting block, and a toothed plate. The dial is located below the ammunition compartment, and its opening corresponds to the transport through hole. The dial is mounted on the launching device via the transport bracket. A transport motor is located at the bottom of the dial. The drive shaft of the transport motor extends into the dial and is connected to the dial connecting block. The toothed plate has one or more teeth and is connected to the dial connecting block. The toothed plate has one or more teeth, forming a transport interval between each adjacent tooth.

6. The working method of a shooting robot according to claim 5, characterized in that: A transport channel is provided on the outer wall of the dial, which extends into the dial and is correspondingly arranged with the transport section; a transport limiting plate is provided in the dial on one side of the transport channel, which is located between the toothed plate at the bottom of the dial and the adjacent toothed plate; the end of the transport channel away from the dial corresponds to the launching device. Step (22) specifically includes: (221) The ball falls into the transport area; (222) The conveyor motor drives the toothed plate to rotate; the small ball is driven by the toothed plate to move in the direction of the conveying channel; (223) The conveying limit plate blocks and guides the ball, allowing it to enter the conveying channel along the conveying limit plate; (224) The ball is launched through the transport channel.

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