Independent suspension omni-directional wheel semi-lower bullet supply sentinel robot based on Robomaster competition

Abstract

The invention discloses an independent suspension omni-directional wheel semi-lower bullet supply sentinel robot based on a Robomaster match, and relates to the technical field of robots, the independent suspension omni-directional wheel semi-lower bullet supply sentinel robot comprises a chassis assembly, a holder frame, a launching assembly, a radar system and a control system which are assembled together, the launching assembly comprises a launching mechanism, a semi-lower bullet supply mechanism and a bullet storage mechanism, the launching mechanism communicates with the bullet storage mechanism through the half-lower bullet supply mechanism and completes bullet supply operation. The chassis assembly includes a chassis frame and a plurality of wheel sets connected together. The chassis is reasonable in layout, compact in structure, simple and stable in structure and high in maintainability; the self-designed semi-lower ammunition supply mechanism is adopted, so that the ammunition storage mechanism is not directly connected with the launching mechanism any more, the weight of the launching mechanism is greatly reduced, and the difficulty degree of electric control debugging is reduced; and meanwhile, the independently-designed independent suspension and chassis frame is adopted, the trafficability is good, the robot adapts to different terrains of a competition field, and the autonomous movement capacity and the in-situ high-speed rotation capacity of the sentry robot are improved through the omni-directional wheels.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a sentry robot with independent suspension omnidirectional wheels and semi-lower ammunition feeding based on the Robomaster competition. Background Art

[0002] In some national college student robot competitions (Robomaster), the competition content is to use sentry robots to use radar navigation and autonomous decision-making to launch projectiles to attack and destroy enemy robots and outpost armor plates. This requires that the sentry robots used in these Robomaster competitions have the structure and functions of radar navigation, obstacle avoidance and enemy locking, as well as storage and launch of projectiles.

[0003] Therefore, how to design a sentry robot with independent suspension, omnidirectional wheels and half-down ammunition feeding based on the Robomaster competition and realize the functional integrity of the sentry robot has become a difficult problem to be solved urgently by technical personnel in this field. Summary of the invention

[0004] The purpose of the present invention is to provide a sentry robot with independent suspension, omnidirectional wheels and semi-lower ammunition feeding based on the Robomaster competition, so as to realize the functional integrity of the sentry robot, and at the same time have good vehicle chassis passability, strong adaptability, autonomous movement and the ability of high-speed rotation in situ, so as to solve the problems listed in the background technology.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The present invention discloses a sentry robot with independent suspension omnidirectional wheels and semi-lower ammunition feeding based on the Robomaster competition, comprising a chassis component, a pan-tilt frame, a launch component, a radar system and a control system, wherein the pan-tilt frame is rotatably connected to the chassis component, the radar system is

[0007] The system is fixed on the top of the pan-tilt frame, the control system is installed in the middle and upper part of the pan-tilt frame, and the power components in the launch assembly and the chassis assembly are electrically connected to the control system;

[0008] The launching assembly comprises a launching mechanism, a semi-lower ammunition feeding mechanism and an ammunition storage mechanism, wherein the launching mechanism is rotatably connected to the pan-tilt frame, the ammunition storage mechanism and the semi-lower ammunition feeding mechanism are both fixedly connected to the pan-tilt frame, and the launching mechanism is connected to the ammunition storage mechanism through the semi-lower ammunition feeding mechanism to complete the ammunition feeding operation;

[0009] The chassis assembly comprises a chassis frame and a plurality of wheel sets connected together, wherein the plurality of wheel sets are mounted on the chassis frame and are centrally symmetrically distributed.

[0010] Preferably, the launching mechanism is installed on the front side of the top of the gimbal and is located above the ammunition storage mechanism, the ammunition storage mechanism is fixed at the center of the gimbal, and the semi-lower ammunition feeding mechanism is fixed below and on one side of the ammunition storage mechanism;

[0011] The launching mechanism comprises a launching gun barrel, a U-shaped limiter, an accelerating friction wheel and an upper section of an S-shaped link, wherein two U-shaped limiters are fixed in upper and lower grooves of the launching gun barrel, the launching gun barrel is fixed on a bottom plate of the launching mechanism, and two accelerating friction wheels are symmetrically distributed on both sides of the launching gun barrel, and the bottom of the accelerating friction wheel is drivingly connected to a friction wheel driving motor, and the friction wheel driving motor is fixed on the bottom plate of the launching mechanism; the upper section of the S-shaped link is designed as a curve structure, one end of the upper section of the S-shaped link is rotatably connected to the left side of the pitch transmission mechanism, the other end of the upper section of the S-shaped link is fixed to the inlet side of the launching gun barrel and is connected to the launching gun barrel, and the side of the bottom plate of the launching mechanism away from the upper section of the S-shaped link is rotatably connected to the right side of the pitch transmission mechanism through a side aluminum block; during competition, a speed measuring module is installed on the outlet side of the launching gun barrel;

[0012] The semi-lower feeding mechanism comprises a middle and lower section of an S-shaped link, a bullet ejecting plate, a guide block and a pulling tooth. The bullet ejecting plate is connected to the pan-tilt frame and is close to the bottom through a dial fixing plate. The top opening of the bullet ejecting plate is communicated with the bottom end of the bullet storage mechanism. The bottom of one side of the bullet ejecting plate is communicated with the bottom port of the middle and lower section of the S-shaped link. The pulling tooth is rotatably connected in the bullet ejecting plate. A bullet ejecting motor is installed at the bottom end of the bullet ejecting plate. The output shaft of the bullet ejecting motor is connected to the pulling tooth through a small coupling. The bullet ejecting motor is installed on the dial bottom plate through a bullet ejecting motor fixing seat. An anti-stuck fixing plate is arranged parallel to the dial bottom plate. The guide block is fixed to the front end of the dial bottom plate and corresponds to the bullet feeding port of the middle and lower section of the S-shaped link.

[0013] The bottom of the lower section of the S-shaped link is fixedly connected to the bottom plate of the gimbal frame through a lower link fixing block below, the upper port of the lower section of the S-shaped link is fixedly connected to the upper end of the gimbal frame through an upper link fixing block, and the upper port of the lower section of the S-shaped link is connected to the bullet feed port of the upper section of the S-shaped link.

[0014] Preferably, the lower section of the S-shaped link is designed to be S-shaped, and a large number of small bearings are installed in the internal grooves of the lower section of the S-shaped link. The small bearings are mainly distributed in the upper and lower S-bending grooves, and the whole is composed of five layers of stacked plates.

[0015] Preferably, the launching mechanism is rotatably connected to the pan-tilt frame via a pitch transmission mechanism, a pitch flange bearing is embedded in a fixing hole on one side of the pan-tilt frame, the pitch flange bearing is clamped and fixed by a pitch inner clamping plate and a pitch outer clamping plate, and the inner ring of the pitch flange bearing is positionally connected to the support plate on the upper section of the S-shaped link;

[0016] It also includes a connecting rod bearing, a short connecting rod, a long connecting rod and a pitch motor, wherein the pitch motor is fixed on the bottom plate of the gimbal frame, the output end of the pitch motor is connected to one end of the short connecting rod through a transmission member, the other end of the short connecting rod is embedded with a connecting rod bearing and is rotatably connected to the bottom end of the long connecting rod, the top end of the long connecting rod is rotatably connected to the upper connecting rod above through a connecting rod bearing, the upper connecting rod is positioned with a pitch flange bearing embedded in the top end of the other side plate of the gimbal frame through a bearing pressure ring, and the pitch flange bearing is rotatably connected to a side aluminum block fixedly connected to one side of the bottom plate of the launching mechanism; the short connecting rod, the long connecting rod and the upper connecting rod constitute a connecting rod transmission pair, the pitch motor is started to drive the connecting rod transmission pair to move through the transmission member, and the connecting rod transmission pair drives the bottom plate of the launching mechanism and the launching mechanism above to rotate around the axis of the two pitch flange bearings through the pitch flange bearing.

[0017] Preferably, the bottom end of the pan-tilt frame is rotatably connected to the chassis frame through a yaw transmission mechanism, the yaw transmission mechanism includes a yaw axis drive motor, a yaw axis bearing, a clamping fixture and a mosquito coil board, the output shaft of the yaw axis drive motor extends above the chassis assembly, the yaw axis drive motor output shaft is sleeved with a yaw mounting plate placed on the chassis assembly, the yaw mounting plate is connected to the chassis bottom plate of the chassis assembly by bolts; the inner pad of the clamping fixture is fixedly connected to the lower end of the mosquito coil board and the pan-tilt frame, the outer pad of the clamping fixture is fixedly connected to the chassis upper plate above the chassis frame, and the yaw axis bearing is embedded in the clamping fixture.

[0018] Preferably, the chassis frame comprises a lower longitudinal aluminum square, an arc-shaped anti-collision beam, a chassis bottom plate, a chassis upper plate, an upper transverse aluminum square, a side armor plate mounting module, a longitudinal anti-collision connecting plate, a side anti-collision connecting plate and a longitudinal armor plate mounting module; the lower longitudinal aluminum square and the upper transverse aluminum square are respectively and vertically fixedly connected to the lower and upper parts of the chassis bottom plate, and the three are fixedly connected to the yaw mounting plate by four bolts;

[0019] The two side anti-collision connecting plates are symmetrically fixed on the two ends of the two upper horizontal aluminum squares, and the two longitudinal anti-collision connecting plates are symmetrically fixed on both sides of the two lower longitudinal aluminum squares. The arc-shaped anti-collision beam is fixed under the side anti-collision connecting plates and on the longitudinal anti-collision connecting plates; the side armor plate mounting module is fixed on the side anti-collision connecting plates, and the longitudinal armor plate mounting module is fixed on the longitudinal anti-collision connecting plates. During the competition, four armor plates are installed on the longitudinal armor plate mounting module and the side armor plate mounting module.

[0020] Preferably, the wheel set is provided with four sets and is centrally symmetrically installed around the bottom plate of the chassis, the wheel set comprises an omnidirectional wheel and a suspension system, and the omnidirectional wheel is connected to the chassis frame through the suspension system;

[0021] The suspension system includes a shock absorber, an isolation column, an electric regulator and a motor. The upper end of the shock absorber is connected to the upper plate of the chassis through a shock absorber mounting seat. The isolation column is connected to the top of the lower rocker arm through bolts. The motor is located below the shock absorber and is fixed between the two upper rocker arms through a motor mounting seat. The electric regulator is installed between the shock absorber and the motor through an electric regulator fixing plate.

[0022] The lower rocker arm has two wheel flange bearings embedded therein, the inner side of the lower rocker arm is in close contact with the lower rocker arm bearing isolation plate, the inner side of the lower rocker arm bearing isolation plate is in close contact with two rocker arm thrust ball bearings and is fixedly connected to the motor mounting seat through fastening bolts, and the upper end of the lower rocker arm is fixedly connected to the rocker arm fixing plate;

[0023] The upper rocker arm has two wheel flange bearings embedded therein, the inner side of the lower end of the upper rocker arm is in close contact with the rocker arm gasket and is fixed in series with the upper end of the motor mounting seat by fastening bolts, and the inner side of the upper end of the upper rocker arm is in close contact with the rocker arm gasket and is fixedly connected to the upper end of the rocker arm fixing plate;

[0024] The omnidirectional wheel comprises an outer wheel and an inner wheel, inner and outer wheel pads are arranged in the center of the outer wheel and the inner wheel, and the three are arranged in sequence and fixed on the omnidirectional wheel coupling by bolts, and the inner side of the omnidirectional wheel coupling is sequentially provided with a wheel set gasket and a wheel set thrust ball bearing and fixed to the output shaft of the motor through an outer clamping cover.

[0025] Preferably, the outer wheel and the inner wheel are arranged side by side, each comprising two wheel outer plates, a wheel center plate and a plurality of rollers on the outer periphery, the wheel center plate being located in the middle of the two wheel outer plates, the ends of the plurality of rollers distributed in a circular shape are matched with the wheel center plate and limited by the wheel outer plates, the three are tightly attached to each other and fastened together by a plurality of bolts; the two groups of rollers on the outer wheel and the inner wheel are staggered.

[0026] Preferably, the control system includes a central integrated control board, an industrial camera and a small integrated computer, the central integrated control board and the small integrated computer are installed in a positioning frame, the positioning frame is installed on the top of the launching mechanism, and the small integrated computer is located on the rear side of the launching mechanism; the industrial camera is installed on the front end of the positioning frame through a camera mounting plate, and is located above the launching barrel of the launching mechanism, and a camera cover is provided on the top of the industrial camera.

[0027] Preferably, the radar system includes a MID-360 laser radar, a radar mounting plate, a radar protective shell and a radar bracket. The radar bracket is placed vertically and the bottom is fixed to the right side of the gimbal. The radar mounting plate is fixed to the upper left of the radar bracket. The MID-360 laser radar is installed below the radar mounting plate. The radar protective shell is located below the radar mounting plate. The outer edge of the radar protective shell is clamped by an acrylic hemispherical fixing piece and an acrylic hemispherical fixing plate and then fixed to the radar mounting plate through an aluminum column. The top and one side of the radar bracket are respectively installed with a light bar and an image transmission module for competition.

[0028] Compared with the prior art, the beneficial technical effects of the present invention are:

[0029] 1) The present invention discloses a sentry robot with independent suspension omnidirectional wheels and semi-lower ammunition feeding based on the Robomaster competition, comprising a chassis component, a pan-tilt frame, a launch component, a radar system and a control system, wherein the above components or systems are integrated and connected together; wherein the chassis component is formed by a chassis frame and a plurality of wheel groups, which reduces the height of the entire sentry robot and adjusts the position of the yaw-axis drive motor for driving the pan-tilt frame, significantly reduces the overall center of gravity, and enhances the stability of the robot's movement; the present invention adopts a self-designed semi-lower ammunition feeding structure and method, so that the ammunition bay is no longer directly connected to the launch mechanism, greatly reducing the weight of the launch mechanism; at the same time, compared with the traditional upper ammunition feeding mechanism, the semi-lower ammunition feeding mechanism of the present invention separates the ammunition bay and the ammunition tray from the launch mechanism, making the pit The total mass of the CH motor drive is reduced, and the launch mechanism reduces this part of the mass, so that the moment of inertia of the pitch axis (referring to the horizontal rotation center of the pitch transmission mechanism) is also significantly reduced, thereby making the launch mechanism respond more quickly; in addition, the control system, the industrial camera and other parts are placed more reasonably, so that the center of gravity of the entire launch mechanism is centered and close to the center of the pitch axis rotation axis; in addition, traditionally, the overall moment of inertia of the pitch axis of the launch mechanism changes when the ammunition feed mechanism is in the two states of a full and empty magazine, which is not conducive to the debugging of the pitch motor. The present invention eliminates the change in the moment of inertia of the pitch axis caused by the change in the number of projectiles in the magazine, facilitates the debugging of the pitch motor, and reduces the difficulty of electronic control debugging.

[0030] 2) The S-shaped link structure design of the present invention makes the projectiles of the entire link densely arranged in the link under the action of gravity, making the entire feeding system more stable; wherein, the upper section of the S-shaped link is fixed on the launching barrel, making the overall link more stable; placing a small bearing at the S-shaped arc of the middle and lower sections of the S-shaped link reduces the transmission power required for the projectiles, reduces the burden on the ejector motor, and thus reduces the damage to the ejector motor; the design of the S-shaped link makes the lower end of the gimbal frame small, and can be matched with a smaller chassis, while freeing up chassis space; at the same time, the semi-lower feeding mechanism of the present invention avoids the jamming of projectiles in the conveying link; in addition, in the present invention, after the projectile comes out of the semi-lower feeding mechanism, it enters the launching system through the core of the pitch shaft, so that the launching mechanism will not affect the movement trajectory of the projectile when it moves in the direction of the pitch shaft, and also avoids the problem of the change of the center of gravity of the launching structure caused by the movement of the pitch shaft in the traditional upper feeding mode, thereby ensuring the stability of the launching mechanism action.

[0031] Furthermore, the U-shaped limit of the launching mechanism of the present invention improves the launching accuracy and stability, and in tests and actual competitions, a 10-meter dispersion in a 100mm*100mm square array can be achieved.

[0032] 3) The present invention fixes the camera head of the industrial camera between the camera mounting plate and the camera cover plate. The upper and lower plates are fixed by an adapter. The camera mounting plate is fixed to the firing barrel, which is convenient for disassembly. At the same time, the fixed connection with the barrel can reduce interference.

[0033] 4) The chassis assembly of the present invention has a reasonable layout, a simple structure, and is convenient and quick to assemble; wherein, the chassis bottom plate is sandwiched between the horizontal and vertical aluminum squares, which not only has a stable structure but also can directly install the horizontal and vertical anti-collision connecting plates due to the vertical height difference. The outer side adopts an arc-shaped aluminum square to form a protective beam, which ensures the passability while having higher strength; the armor plate installation modules around are distributed symmetrically on the circumference and are staggered in height.

[0034] 5) The independent suspension design of the omnidirectional wheel of the present invention makes the four shock absorbers independent of each other when encountering undulating sections. The lower rocker arm pushes the compression spring at the lower end of the shock absorber to provide shock absorption, and can easily pass through a height difference of 20 cm; at the same time, when subjected to a greater impact, the shock absorber is close to 90° with the vertical direction, which improves the efficiency of the shock absorber.

[0035] 6) The armor plate of the present invention has a large vertical drop, which can better avoid enemy projectile shooting.

[0036] 7) The top-inverted radar design of the present invention makes the most of the radar's maximum scanning area, allowing the scanned point cloud map to identify more obstacle information, providing the most basic map information for the subsequent robot's obstacle avoidance function. The information is more comprehensive and complete, and has a higher degree of matching with the actual scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below in conjunction with the accompanying drawings.

[0038] Figure 1 This is a schematic diagram of the overall structure of the sentry robot with independent suspension omnidirectional wheels and half-down ammunition feeding based on the Robomaster competition of the present invention;

[0039] Figure 2 The axial side view of the pan-tilt stand and the multiple structures above it is shown in the figure. Figure 1 ;

[0040] Figure 3 It is a schematic diagram of the axial side of the launching mechanism of the present invention;

[0041] Figure 4 An exploded view of the yaw transmission mechanism of the present invention;

[0042] Figure 5 It is a schematic diagram of the axle side of the radar system of the present invention;

[0043] Figure 6 It is an exploded diagram of the control system of the present invention;

[0044] Figure 7 It is an exploded view of the ammunition feeding mechanism of the present invention;

[0045] Figure 8 It is a schematic diagram of the connection structure between the launching mechanism and one side of the Pitch transmission mechanism of the present invention;

[0046] Fig. 9 This is an exploded view of the other side of the Pitch transmission mechanism of the present invention;

[0047] Fig.10 This is an exploded view of the industrial camera of the present invention;

[0048] Fig.11 It is a detailed schematic diagram of the lower section of the S-type link of the present invention;

[0049] Fig.12 This is an exploded view of the upper section of the S-shaped link of the present invention;

[0050] Fig.13 It is a schematic diagram of the pan-tilt stand of the present invention;

[0051] Fig.14 It is a schematic diagram of the bullet storage mechanism of the present invention;

[0052] Fig.15 This is an exploded view of the chassis assembly of the present invention (with the wheels hidden);

[0053] Fig.16 This is an exploded view of the wheel set of the present invention;

[0054] Fig.17 This is an overall exploded view of the omnidirectional wheel of the present invention;

[0055] Fig.18 It is an exploded view of the details of the inner and outer wheels of the present invention;

[0056] Fig.19 Schematic diagram of the connection structure between the lower section of the S-type link and the link fixing block of the present invention;

[0057] Fig. 20 The axial side view of the pan-tilt stand and the multiple structures above it is shown in the figure. Figure 2 ;

[0058] Fig.21 It is a schematic diagram of the connection structure between the launching mechanism and the lower half feeding mechanism of the present invention;

[0059] Description of reference numerals:

[0060] 1. Launch mechanism; 2. Control system; 3. PTZ; 4. Chassis; 5. Radar system; 6. Pitch transmission mechanism; 7. Yaw transmission mechanism; 8. Half-down feeding mechanism; 9. Ammunition storage mechanism; 10. Industrial camera; 11. Upper section of S-type link; 12. Launch barrel; 13. Acceleration friction wheel; 14. Launch mechanism bottom plate; 15. U-type limiter; 14-1. Side aluminum block; 14-2. Support plate;

[0061] 21. Central integrated control panel; 22. Small integrated computer;

[0062] 30. Chassis frame; 301. Lower longitudinal aluminum square; 302. Arc anti-collision beam; 303. Chassis bottom plate; 304. Longitudinal anti-collision connecting plate; 305. Side armor plate installation module; 306. Chassis upper plate; 307. Upper transverse aluminum square; 308. Side anti-collision connecting plate; 309. Longitudinal armor plate installation module; 310. Battery;

[0063] 40. Wheel set; 41. Omnidirectional wheel; 42. Suspension system;

[0064] 411, outer wheel; 412, inner wheel; 413, inner and outer wheel pads; 414, clamping cover; 415, omnidirectional wheel coupling; 416, wheel set gasket; 417, wheel set thrust ball bearing;

[0065] 401, wheel outer plate; 402, roller; 403, wheel center plate;

[0066] 421. shock absorber; 422. isolation column; 423. electric adjustment; 424. electric adjustment mounting seat; 425. motor; 426. motor mounting seat; 427. shock absorber mounting seat; 428. upper rocker arm; 429. rocker arm fixing plate; 430. rocker arm gasket; 431. lower rocker arm; 432. lower rocker arm bearing isolation plate; 433. wheel set thrust ball bearing; 434. fastening bolt; 435. wheel set flange bearing;

[0067] 51. Radar mounting plate; 52. Acrylic hemispherical fixing plate; 53. Acrylic hemispherical pad; 54. Radar protective shell; 55. Radar bracket;

[0068] 61. Upper connecting rod; 62. Pitch inner clamping plate; 63. Pitch outer clamping plate; 64. Pitch flange bearing; 65. Connecting rod bearing; 66. Short connecting rod; 67. Long connecting rod; 68. Transmission part; 69. Pitch motor; 64-1. Bearing pressure ring;

[0069] 71. Yaw shaft bearing; 72. Clamping fixture; 73. Mosquito coil board; 74. Yaw mounting plate; 75. Yaw shaft drive motor;

[0070] 81. The middle and lower section of the S-shaped link; 82. The spring-action disc; 83. The spring-action teeth; 84. The guide block; 85. The spring-action motor fixing seat; 86. The dial bottom plate; 87. The anti-stuck fixing plate; 88. The small coupling; 89. The link fixing block;

[0071] 101. camera mounting plate; 102. camera cover plate;

[0072] 201, light bar; 202, image transmission module; 203, speed measurement module; 204, main control module; DETAILED DESCRIPTION

[0073] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0074] like Figure 1-21 As shown, a sentry robot with independent suspension omnidirectional wheels and semi-lower ammunition feeding based on the Robomaster competition includes a chassis component 4, a pan-tilt frame 3, a launch component, a radar system 5 and a control system 2. The pan-tilt frame 3 is rotatably connected to the chassis component 4, the radar system 5 is fixed on the top of the pan-tilt frame 3, the control system 2 is installed in the middle and upper part of the pan-tilt frame 3, and the launch component and the power components in the chassis component 4 are electrically connected to the control system 2; the structure of the pan-tilt frame 3 is as shown Fig.13 As shown;

[0075] The launching assembly includes a launching mechanism 1, a semi-lower ammunition feeding mechanism 8 and an ammunition storage mechanism 9. The launching mechanism 1 is rotatably connected to the pan-tilt frame 3. The ammunition storage mechanism 9 and the semi-lower ammunition feeding mechanism 8 are both fixedly connected to the pan-tilt frame 3. The launching mechanism 1 is connected to the ammunition storage mechanism 9 through the semi-lower ammunition feeding mechanism 8 and completes the ammunition feeding operation.

[0076] The chassis assembly 4 includes a chassis frame 30 and a plurality of wheel sets 40 connected together. The plurality of wheel sets 40 are mounted on the chassis frame 30 and are distributed in a centrally symmetrical manner.

[0077] Specifically, when in use, the chassis assembly 4 is used to drive the entire robot to move, the radar system 5 completes scanning and jointly controls the robot's movement with the control system; the gimbal frame 3 is used to carry the launching mechanism 1, and the launching mechanism 1 aims by rotating on the gimbal frame and the gimbal frame on the chassis assembly 4, and the launching mechanism 1 launches the projectile after aiming; the control system 2 is used to control the robot's movement, aiming, launching, and information transmission functions; wherein the radar system scans the terrain and undertakes the navigation function.

[0078] Among them, the semi-lower feeding mechanism 8 and the ammunition storage mechanism 9 do not move with the launching mechanism 1, so that the weight of the ammunition storage mechanism 9 and the initial projectile are borne by the gimbal frame 3, thereby reducing the overall weight of the launching mechanism 1, so that the amount of projectiles will not affect the action of the launching mechanism, eliminating the adverse effect of the ammunition load on controlling the pitch axis (referring to the horizontal rotation center of the pitch transmission mechanism), and greatly reducing the burden of adjusting the parameters of the launching mechanism. The design of this mechanism expands the ammunition load; at the same time, the control system is placed at the rear of the launching mechanism, which is not only conducive to controlling the movement of the entire vehicle and the line layout, but also the two mechanisms are balanced with each other so that the center of gravity is at the center of the pitch transmission mechanism, which is conducive to aiming and responding.

[0079] Specifically, the launching mechanism 1 is installed on the front side of the top of the pan-tilt frame 3 and is located above the bullet storage mechanism 9. The bullet storage mechanism 9 is fixed at the center of the pan-tilt frame 3. The semi-lower bullet feeding mechanism 8 is fixed below and on one side of the bullet storage mechanism 9. The outer structure of the bullet storage mechanism 9 is as follows: Fig.14 Specifically, the selection of the installation position lowers the center of gravity of the yaw transmission mechanism and reduces the moment of inertia, which not only makes the yaw axis (referring to the vertical rotation center of the yaw transmission mechanism) more flexible and stable in control, but also makes the whole vehicle more stable during movement.

[0080] like Figure 2-3 , Fig.12 , Figure 20-21As shown, the launching mechanism 1 comprises a launching barrel 12, a U-shaped limiter 15, an accelerating friction wheel 13 and an S-shaped link upper section 11, wherein the two U-shaped limiters 15 are fixed in the upper and lower grooves of the launching barrel 12, the launching barrel 12 is fixed on a launching mechanism bottom plate 14, the two accelerating friction wheels 13 are symmetrically distributed on both sides of the launching barrel 12, the bottom of the accelerating friction wheel 13 is drivingly connected with a friction wheel driving motor, the friction wheel driving motor is fixed on the launching mechanism bottom plate 14, the friction wheel driving motor is electrically connected to a control system to realize automatic control, and when the friction wheel driving motor is started, it drives the accelerating friction wheel 13 to rotate at a high speed to provide power for projectile launching; the S-shaped link upper section 11 is fixed on The upper section 11 of the S-shaped link is designed as a curved structure, one end of the upper section 11 of the S-shaped link is rotatably connected to the left side of the pitch transmission mechanism 6, and the other end of the upper section 11 of the S-shaped link is fixed to the inlet side of the launch barrel 12 and is connected to the launch barrel 12. The side of the launch mechanism bottom plate 14 away from the upper section 11 of the S-shaped link is rotatably connected to the right side of the pitch transmission mechanism 6 through a side aluminum block; during the competition, a speed measurement module 203 is installed on the outlet side of the launch barrel 12; specifically, the U-shaped limiter improves the launch accuracy and stability. In tests and actual competitions, it can reach 10 meters scattered in a square array of 100mm*100mm.

[0081] like Figure 7 , Fig.11 , Fig.19 , Fig.21 As shown, the semi-lower feeding mechanism 8 includes an S-shaped middle and lower section 81, a bullet ejecting plate 82, a guide block 84 and a pulling tooth 83. The bullet ejecting plate 82 is connected to the pan / tilt frame 3 and is close to the bottom through a dial fixing plate. The top opening of the bullet ejecting plate 82 is communicated with the bottom end of the bullet storage mechanism 9. The bottom of one side of the bullet ejecting plate 82 is communicated with the bottom port of the middle and lower section 81 of the S-shaped link. The pulling tooth 83 is rotatably connected to the bullet ejecting plate 82. A bullet ejecting motor is installed at the bottom end of the bullet ejecting plate 82. The output shaft of the bullet ejecting motor is connected to the bottom end of the bullet ejecting plate 82 through a small coupling. The shaft 88 is connected with the shifting tooth 83; the bullet-moving motor is installed on the dial bottom plate 86 through the bullet-moving motor fixing seat 85, and an anti-stuck fixing plate 87 is arranged parallel to the dial bottom plate 86. The guide block 84 is fixed at the front end of the dial bottom plate 86 and corresponds to the bullet-feeding port of the lower section 81 of the S-shaped link; specifically, the bullet-moving motor fixing seat 85 is made of CNC aluminum alloy to avoid the problem of motor heating and material deformation during use; the bullet-moving motor is electrically connected to the control system 2 to realize automatic control of the action;

[0082] The bottom of the lower section 81 of the S-shaped link is fixedly connected to the bottom plate of the gimbal frame 3 via a lower link fixing block 89 below, the upper port of the lower section 81 of the S-shaped link is fixedly connected to the upper end of the gimbal frame 3 via a link fixing block 89 above, and the upper port of the lower section 81 of the S-shaped link is connected to the bullet feed port of the upper section 11 of the S-shaped link.

[0083] like Fig.11 As shown, the lower section 81 of the S-shaped link is designed to be S-shaped, and a large number of small bearings are installed in the inner groove of the lower section 81 of the S-shaped link. The small bearings are mainly distributed at the upper and lower S-bend grooves, and the whole is composed of five layers of stacked plates. By adopting small bearings, the transmission power required for the projectile is reduced, the burden of the projectile motor is reduced, and thus the damage to the projectile motor is reduced.

[0084] Specifically, the magazine and magazine tray 82 of the ammunition storage mechanism 9 are fixedly connected to the gimbal frame 3, and the top of the magazine tray is fixedly connected to the bottom of the magazine. The projectile is pushed into the middle and lower section 81 of the S-shaped link through the guide block 84 by the rotation of the magazine tooth 83. At the same time, the anti-stuck fixing plate 87 stabilizes the system to prevent other projectiles from colliding with the projectiles entering the middle and lower section port of the S-shaped link; the projectile follows the middle and lower section 81 of the S-shaped link into the upper section 11 of the S-shaped link above. At this time, the small bearings in the entire link play a role in reducing damping and alleviating the burden on the magazine ejector motor; the S-shaped link structure makes the projectiles of the entire link densely arranged in the link under the action of gravity, making the entire ammunition supply system more stable.

[0085] During operation, the projectile placed in the magazine falls into the ejector plate 82 under the action of gravity, the ejector motor starts and drives the ejector tooth 83 to rotate, and the ejector tooth 83 ejects the projectile to provide transmission power for the projectile, and the projectile is ejected into the lower feeding mechanism 8, and is successively transmitted through the lower section 81 of the S-shaped link and the upper section 11 of the S-shaped link to allow the projectile to enter the launching barrel 12 of the launching mechanism 1. When moving, the projectile is adjusted in position after reaching the U-shaped limit 15, and then touches the accelerating friction wheel 13. The accelerating friction wheel 13 rotates at high speed and contacts the projectile through friction, so that the projectile obtains kinetic energy and completes the launching operation along the launching barrel 12.

[0086] The traditional ejector plate has a small bearing at the ejection port to lubricate and accelerate the projectile, but it is difficult to prevent the projectile from getting stuck because the magazine and the ejector plate are connected. After the required projectile is placed in the magazine, the projectile falls into the ejector plate under the action of gravity. The projectile at the bottom will first fall into the teeth of the ejector teeth, and the projectile above will be stacked on the projectile below. Therefore, when a projectile is fired from the ejection port, the projectile above it will directly fall at the ejection port and jam the ejector teeth, causing the projectile to be ejected unsmoothly or even unable to be fired. After the anti-jamming fixing plate is provided, when a projectile is fired, the projectile above it will slide along the anti-jamming fixing plate onto the toothed disc of the ejector teeth, or slide into the teeth of the ejector teeth without a projectile, and will not fall directly into the ejection port, so that there will be no blockage problem at the ejection port, and ultimately the projectile firing operation will be smoother.

[0087] In particular, due to the complexity of the loading environment, it is inevitable that debris will enter the lower feeding mechanism and the storage mechanism, so the dial bottom plate 86, the lower section 81 of the S-shaped link, and the upper section 11 of the S-shaped link adopt a hollow structure design to screen out the debris.

[0088] like Figure 8-9 , Fig.21 As shown, the launching mechanism 1 is rotatably connected to the gimbal frame 3 through a pitch transmission mechanism 6, a pitch flange bearing 64 is embedded in a fixing hole on one side of the gimbal frame 3, the pitch flange bearing 64 is clamped and fixed by a pitch inner clamp plate 62 and a pitch outer clamp plate 63, and the inner ring of the pitch flange bearing 64 is positioned and connected to the support plate 14-2 on the upper section 11 of the S-shaped link; specifically, the pitch flange bearing is axially fixed on the gimbal frame by adding a pitch shaft inner clamp plate 62 and a pitch shaft outer clamp plate 63, thereby improving the structural strength, and solving the problem of slippage of the pitch shaft flange in the initial use of the prior art and the problem of insufficient structural stability.

[0089] It also includes a connecting rod bearing 65, a short connecting rod 66, a long connecting rod 67 and a pitch motor 69, wherein the pitch motor 69 is fixed on the bottom plate of the gimbal frame 3, and the output end of the pitch motor 69 is connected to one end of the short connecting rod 66 through a transmission member 68, and the other end of the short connecting rod 66 is embedded with a connecting rod bearing 65 and is rotatably connected to the bottom end of the long connecting rod 67, and the top end of the long connecting rod 67 is rotatably connected to the upper connecting rod 61 above through the connecting rod bearing 65, and the upper connecting rod 61 is positioned with a pitch flange bearing 64 embedded in the top end of the other side plate of the gimbal frame 3 through a bearing pressure ring 64-1, and the pitch flange bearing 64 is rotatably connected to the side aluminum block 14-1 fixedly connected to one side of the bottom plate 14 of the launching mechanism.

[0090] Specifically, the short connecting rod 66, the long connecting rod 67 and the upper connecting rod 61 form a connecting rod transmission pair. During operation, the pitch motor 69 is started to drive the connecting rod transmission pair to move through the transmission member 68. The connecting rod transmission pair drives the launching mechanism base plate 14 and the launching mechanism 1 above to rotate around the axes of the two pitch flange bearings 64 through the pitch flange bearing 64.

[0091] Specifically, in the pitch transmission mechanism 6, the pitch motor 69 is fixed to the lower part of the gimbal frame 3, which lowers the center of gravity. The pitch motor 69 is used to start and control the rotation and speed of the launch mechanism 1 in the pitch angle direction. Furthermore, the installation of the pitch transmission mechanism 6 makes the connection between the semi-lower feeding mechanism 8 and the launch mechanism 1 coaxial, so that the movement trajectory of the projectile will not be affected when the launch mechanism 1 moves in the pitch axis direction, avoiding the problem of the change of the center of gravity of the launch structure caused by the movement of the pitch axis in the traditional upper feeding mode, thereby ensuring the stability of the launch mechanism action; at the same time, the influence of the rotational inertia of the yaw axis is reduced and the center of gravity position of the whole vehicle is lowered.

[0092] like Figure 4 As shown, the bottom end of the pan-tilt frame 3 is rotatably connected to the chassis frame 30 through a yaw transmission mechanism 7, and the yaw transmission mechanism 7 includes a yaw axis driving motor 75, a yaw axis bearing 71, a clamping fixture 72 and a mosquito coil board 73. The output shaft of the yaw axis driving motor 75 extends to the top of the chassis assembly 4, and the yaw axis driving motor 75 output shaft is sleeved with a yaw mounting plate 74 placed on the chassis assembly 4 on the circumferential side, and the yaw mounting plate 74 is connected to the chassis bottom plate 303 of the chassis assembly 4 by bolts; the inner pad of the clamping fixture 72 is fixedly connected to the mosquito coil board 73 and the lower end of the pan-tilt frame 3, and the outer pad of the clamping fixture 72 is fixedly connected to the chassis upper plate 306 above the chassis frame 30, and the yaw axis bearing 71 is embedded in the clamping fixture 72.

[0093] Specifically, the present invention simplifies the yaw transmission mechanism 7, and compared with the complex design of the traditional yaw shaft structure, the installation and operation are more convenient and quick. Specifically, the yaw shaft bearing 71 is fixed by two upper and lower clamping fixing members 72, the yaw shaft drive motor 75 is directly connected to the mosquito coil board 73 and then indirectly fixed to the pan head frame 3, and the lower part of the yaw shaft drive motor 75 and the yaw mounting plate 74 are fixed to the chassis bottom plate 303, and the structure is simple and the strength is stable.

[0094] Specifically, the yaw axis drive motor 75 adopts a GM6020 DC brushless motor, which is divided into an upper and lower part and assembled to the designated position of the yaw transmission mechanism 7. When in use, after the yaw axis drive motor is started, it drives the upper pan / tilt frame 3 to rotate synchronously around the central axis of the yaw axis drive motor through the fixed connection between the upper part and the mosquito coil board 73. The rotation and speed of the yaw angle direction of the launching mechanism can be controlled by the yaw axis drive motor.

[0095] In the present invention, two degrees of freedom are formed by the cooperation of the pitch transmission mechanism 6 and the yaw transmission mechanism 7. The motors in the two transmission mechanisms are electrically connected to the control system 2, and the control status is fed back to the control system. The specific actions of the motors can also be controlled by the control system.

[0096] like Figure 1 , Fig.15 As shown, the chassis frame 30 includes a lower longitudinal aluminum square 301, an arc-shaped anti-collision beam 302, a chassis bottom plate 303, a chassis upper plate 306, an upper transverse aluminum square 307, a side armor plate mounting module 305, a longitudinal anti-collision connecting plate 304, a side anti-collision connecting plate 308 and a longitudinal armor plate mounting module 309; the lower longitudinal aluminum square 301 and the upper transverse aluminum square 307 are respectively and vertically fixedly connected to the lower and upper parts of the chassis bottom plate 303, and the three are fixedly connected to the yaw mounting plate 74 by four bolts;

[0097] The two side anti-collision connecting plates 308 are symmetrically fixed on the two ends of the two upper horizontal aluminum squares 307, and the two longitudinal anti-collision connecting plates 304 are symmetrically fixed on both sides of the two lower longitudinal aluminum squares 301. The arc-shaped anti-collision beam 302 is fixed under the side anti-collision connecting plates 308 and on the longitudinal anti-collision connecting plates 304. Specifically, a battery 310 for power supply is installed on the inner side of a longitudinal anti-collision connecting plate 304. During the competition, the side armor plate mounting module 305 is first fixed on the side anti-collision connecting plate 308, and the longitudinal armor plate mounting module 309 is fixed on the longitudinal anti-collision connecting plate 304. The main control module 204 is installed on the top of the frame of the longitudinal armor plate mounting module 309. During the competition, four armor plates are installed on the longitudinal armor plate mounting module 309 and the side armor plate mounting module 305, and the staggered installation avoids hitting them at the same height.

[0098] Specifically, unlike the common omnidirectional wheel well-shaped frame design, the chassis bottom plate is sandwiched between the horizontal and vertical aluminum squares in the present invention, making the structure more stable. At the same time, the vertical height difference can be used to directly install the horizontal and vertical anti-collision connecting plates; the outer side adopts an arc-shaped aluminum square to ensure passability while having higher strength.

[0099] Specifically, the wheel set 40 is provided with four groups and is centrally symmetrically installed around the chassis bottom plate 303 . The wheel set 40 includes an omnidirectional wheel 41 and a suspension system 42 . The omnidirectional wheel 41 is connected to the chassis frame 30 through the suspension system 42 .

[0100] like Figure 1 , Fig.16 As shown, the suspension system 42 includes a shock absorber 421, an isolation column 422, an electric regulator 423 and a motor 425. The upper end of the shock absorber 421 is connected to the upper chassis plate 306 through a shock absorber mounting seat 427. The isolation column 422 is connected to the top of the lower rocker arm 431 through bolts. The motor 425 is located below the shock absorber 421 and is fixed between the two upper rocker arms 428 through a motor mounting seat 426. The electric regulator 423 is installed between the shock absorber 421 and the motor 425 through an electric regulator fixing plate 424.

[0101] The lower rocker arm 431 has two wheel flange bearings 435 embedded therein, the inner side of the lower rocker arm 431 is in close contact with the lower rocker arm bearing isolation plate 432, the inner side of the lower rocker arm bearing isolation plate 432 is in close contact with two rocker arm thrust ball bearings 433 and is fixedly connected to the motor mounting seat 426 by fastening bolts 434, and the upper end of the lower rocker arm 431 is fixedly connected to the rocker arm fixing plate 429; the upper rocker arm 428 has two wheel flange bearings 435 embedded therein, the inner side of the lower end of the upper rocker arm 428 is in close contact with the rocker arm gasket 430 and is fixed in series with the upper end of the motor mounting seat 426 by fastening bolts 434, the inner side of the upper end of the upper rocker arm 428 is in close contact with the rocker arm gasket 430 and is fixedly connected to the upper end of the rocker arm fixing plate 429.

[0102] Specifically, the design of the independent suspension makes the four shock absorbers 421 independent of each other when encountering undulating roads, and the lower rocker arm 431 pushes the compression spring at the lower end of the shock absorber 421 to provide shock absorption, which can easily pass through a height difference of 20 cm; at the same time, when subjected to a greater impact, the shock absorber is close to 90° with the vertical direction, which improves the efficiency of the shock absorber.

[0103] like Figure 17-18 As shown, the omnidirectional wheel 41 includes an outer wheel 411 and an inner wheel 412, and inner and outer wheel pads 413 are arranged in the center of the outer wheel 411 and the inner wheel 412, and the three are arranged in sequence and fixed on the omnidirectional wheel coupling 415 by bolts, and the inner side of the omnidirectional wheel coupling 415 is sequentially provided with a wheel set gasket 416 and a wheel set thrust ball bearing 417, and is fixed to the output shaft of the motor 425 through an outer clamping cover 414.

[0104] Specifically, the outer wheel 411 and the inner wheel 412 are arranged side by side, each including two wheel outer plates 401, a wheel center plate 403 and a plurality of rollers 402 on the periphery, the wheel center plate 403 is located in the middle of the two wheel outer plates 401, and the two ends of the plurality of rollers 402 distributed in a circular shape match with the wheel center plate 403 and are limited by the wheel outer plates 401, and the three are tightly attached to each other and fastened together by a plurality of bolts; the two groups of rollers 402 on the outer wheel 411 and the inner wheel 412 are staggered.

[0105] like Figure 6 , Fig.10 As shown, the control system 2 includes a central integrated control board 21, an industrial camera 10 and a small integrated computer 22. The central integrated control board 21 and the small integrated computer 22 are installed in a positioning frame, the positioning frame is installed on the top of the launching mechanism 1, and the small integrated computer 22 is located on the rear side of the launching mechanism 1; specifically, the industrial camera 10 is installed at the front end of the positioning frame through a camera mounting plate 101, and is located above the launching barrel 12 of the launching mechanism 1, and a camera cover plate 102 is provided on the top of the industrial camera 10.

[0106] Specifically, the control system 2 and the industrial camera 10 are placed at the rear and front of the launching mechanism 1 respectively, so that the entire launching mechanism is compact and the center of gravity is centered, and the control is more stable; at the same time, the camera head of the industrial camera is fixed between the camera mounting plate and the camera cover plate, and the upper and lower plates are fixed by an adapter. The camera mounting plate is fixed to the launching barrel, which is easy to disassemble, and is fixed to the barrel to reduce interference.

[0107] like Figure 5 As shown, the radar system 5 includes a MID-360 laser radar, a radar mounting plate 51, a radar protective shell 54 and a radar bracket 55. The radar bracket 55 is placed vertically and the bottom is fixed to the right side of the gimbal 3. The radar mounting plate 51 is fixed to the upper left of the radar bracket 55. The MID-360 laser radar is installed below the radar mounting plate 51. The radar protective shell 54 is located below the radar mounting plate 51. The outer edge of the radar protective shell 54 is clamped by an acrylic hemispherical fixing piece 53 and an acrylic hemispherical fixing plate 52 and then fixedly connected to the radar mounting plate 51 through an aluminum column; the top and one side of the radar bracket 55 are respectively installed with a light bar 201 and an image transmission module 202 for competition.

[0108] Specifically, the radar system 5 adopts an inverted design, which makes the most of the radar's largest scanning area, allowing the scanned point cloud map to identify more obstacle information, providing the most basic map information for the subsequent robot's obstacle avoidance function. The information is more comprehensive and complete, and has a higher degree of match with the actual scene.

[0109] Among them, the light bar 201, the image transmission module 202, the speed measurement module 203, the main control module 204 and the armor plate are existing components that need to be assembled on the robot according to the requirements of the competition.

[0110] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0111] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A sentry robot with independent suspension and omnidirectional wheels and half-down ammunition feeding based on the Robomaster competition, characterized by: The invention comprises a chassis component (4), a pan-tilt frame (3), a transmitting component, a radar system (5) and a control system (2), wherein the pan-tilt frame (3) is rotatably connected to the chassis component (4), the radar system (5) is fixed on the top of the pan-tilt frame (3), the control system (2) is installed in the middle and upper part of the pan-tilt frame (3), and the transmitting component and the power components in the chassis component (4) are electrically connected to the control system (2); The launching assembly comprises a launching mechanism (1), a semi-lower ammunition feeding mechanism (8) and an ammunition storage mechanism (9); the launching mechanism (1) is rotatably connected to the pan-tilt frame (3); the ammunition storage mechanism (9) and the semi-lower ammunition feeding mechanism (8) are both fixedly connected to the pan-tilt frame (3); the launching mechanism (1) is connected to the ammunition storage mechanism (9) through the semi-lower ammunition feeding mechanism (8) and completes an ammunition feeding operation; The chassis assembly (4) comprises a chassis frame (30) and a plurality of wheel sets (40) connected together, wherein the plurality of wheel sets (40) are mounted on the chassis frame (30) and are distributed in a centrally symmetrical manner.

2. The independent suspension omnidirectional wheel semi-lower feeding sentry robot based on the Robomaster competition according to claim 1, characterized in that: The launching mechanism (1) is installed on the front side of the top of the pan-tilt frame (3) and is located above the ammunition storage mechanism (9); the ammunition storage mechanism (9) is fixed at the center of the pan-tilt frame (3); and the semi-lower ammunition feeding mechanism (8) is fixed below and on one side of the ammunition storage mechanism (9); The launching mechanism (1) comprises a launching gun barrel (12), a U-shaped limiter (15), an accelerating friction wheel (13) and an S-shaped link upper section (11), wherein two U-shaped limiters (15) are fixed in upper and lower grooves of the launching gun barrel (12), the launching gun barrel (12) is fixed on a launching mechanism bottom plate (14), and two accelerating friction wheels (13) are symmetrically distributed on both sides of the launching gun barrel (12), and the bottom of the accelerating friction wheel (13) is drivingly connected to a friction wheel driving motor, and the friction wheel driving motor is fixed on the launching mechanism bottom plate (14). 14); the upper section (11) of the S-shaped link is designed as a curved structure, one end of the upper section (11) of the S-shaped link is rotatably connected to the left side of the pitch transmission mechanism (6), the other end of the upper section (11) of the S-shaped link is fixed to the inlet side of the launch barrel (12) and is connected to the launch barrel (12), and the side of the launch mechanism bottom plate (14) away from the upper section (11) of the S-shaped link is rotatably connected to the right side of the pitch transmission mechanism (6) through a side aluminum block; during the competition, the outlet side of the launch barrel (12) is installed with a speed measurement module (203); The semi-lower feeding mechanism (8) comprises a lower section (81) of an S-shaped link, a bullet ejecting plate (82), a guide block (84) and a pulling tooth (83); the bullet ejecting plate (82) is connected to the pan / tilt frame (3) through a dial fixing plate and is close to the bottom; the top opening of the bullet ejecting plate (82) is communicated with the bottom end of the bullet storage mechanism (9); the bottom of one side of the bullet ejecting plate (82) is communicated with the bottom port of the lower section (81) of the S-shaped link; the pulling tooth (83) is rotatably connected to the bullet ejecting plate. In the disk (82), a bullet-moving motor is installed at the bottom end of the bullet-moving disk (82), and the output shaft of the bullet-moving motor is connected to the moving tooth (83) through a small coupling (88); the bullet-moving motor is installed on the dial bottom plate (86) through a bullet-moving motor fixing seat (85), and an anti-stuck fixing plate (87) is arranged parallel to the dial bottom plate (86); the guide block (84) is fixed at the front end of the dial bottom plate (86) and corresponds to the bullet feeding port of the middle and lower section (81) of the S-shaped link; The bottom of the lower section (81) of the S-shaped link is fixedly connected to the bottom plate of the pan-tilt frame (3) via a lower link fixing block (89) at the bottom, the upper port of the lower section (81) of the S-shaped link is fixedly connected to the upper end of the pan-tilt frame (3) via an upper link fixing block (89), and the upper port of the lower section (81) of the S-shaped link is connected to the bullet inlet of the upper section (11) of the S-shaped link.

3. The independent suspension omnidirectional wheel semi-lower feeding sentry robot based on the Robomaster competition according to claim 2, characterized in that: The lower section (81) of the S-shaped link is designed to be S-shaped, and a large number of small bearings are installed in the internal groove of the lower section (81) of the S-shaped link. The small bearings are mainly distributed in the upper and lower S-bend grooves, and the whole is composed of five layers of stacked plates.

4. The independent suspension omnidirectional wheel semi-lower feeding sentry robot based on the Robomaster competition according to claim 2, characterized in that: The launching mechanism (1) is rotatably connected to the pan-tilt frame (3) via a pitch transmission mechanism (6); a pitch flange bearing (64) is embedded in a fixing hole on one side of the pan-tilt frame (3); the pitch flange bearing (64) is clamped and fixed by a pitch inner clamping plate (62) and a pitch outer clamping plate (63); the inner ring of the pitch flange bearing (64) is positioned and connected to the support plate (14-2) on the upper section (11) of the S-shaped link; The invention also comprises a connecting rod bearing (65), a short connecting rod (66), a long connecting rod (67) and a pitch motor (69), wherein the pitch motor (69) is fixed on the bottom plate of the pan-tilt frame (3), the output end of the pitch motor (69) is connected to one end of the short connecting rod (66) through a transmission member (68), the other end of the short connecting rod (66) is embedded with a connecting rod bearing (65) and is rotatably connected to the bottom end of the long connecting rod (67), the top end of the long connecting rod (67) is rotatably connected to the upper connecting rod (61) above through the connecting rod bearing (65), and the upper connecting rod (61) is connected to the upper connecting rod (61) embedded in the pan-tilt frame (3) through a bearing pressure ring (64-1). The pitch flange bearing (64) at the top end of the other side plate of the platform (3) is positioned, and the pitch flange bearing (64) is rotatably connected to the side aluminum block (14-1) fixedly connected to one side of the launch mechanism base plate (14); the short connecting rod (66), the long connecting rod (67) and the upper connecting rod (61) form a connecting rod transmission pair, and the pitch motor (69) is started to drive the connecting rod transmission pair to move through the transmission member (68), and the connecting rod transmission pair drives the launch mechanism base plate (14) and the launch mechanism (1) above to rotate around the axis of the two pitch flange bearings (64) through the pitch flange bearing (64).

5. The independent suspension omnidirectional wheel semi-lower feeding sentry robot based on the Robomaster competition according to claim 1, characterized in that: The bottom end of the pan-tilt frame (3) is rotatably connected to the chassis frame (30) via a yaw transmission mechanism (7). The yaw transmission mechanism (7) comprises a yaw axis driving motor (75), a yaw axis bearing (71), a clamping fixture (72) and a mosquito coil board (73). The output shaft of the yaw axis driving motor (75) extends above the chassis assembly (4). A yaw mounting plate (74) placed on the chassis assembly (4) is sleeved around the output shaft of the yaw axis driving motor (75). The yaw mounting plate (74) is connected to the chassis bottom plate (303) of the chassis assembly (4) via bolts. The inner pad of the clamping fixture (72) is fixedly connected to the mosquito coil board (73) and the lower end of the pan-tilt frame (3). The outer pad of the clamping fixture (72) is fixedly connected to the chassis upper plate (306) above the chassis frame (30). The yaw axis bearing (71) is embedded in the clamping fixture (72).

6. The independent suspension omnidirectional wheel semi-lower feeding sentry robot based on the Robomaster competition according to claim 5, characterized in that: The chassis frame (30) comprises a lower longitudinal aluminum square (301), an arc-shaped anti-collision beam (302), a chassis bottom plate (303), a chassis upper plate (306), an upper transverse aluminum square (307), a side armor plate mounting module (305), a longitudinal anti-collision connecting plate (304), a side anti-collision connecting plate (308) and a longitudinal armor plate mounting module (309); the lower longitudinal aluminum square (301) and the upper transverse aluminum square (307) are respectively and vertically fixedly connected to the lower side and the upper side of the chassis bottom plate (303), and the three are fixedly connected to the yaw mounting plate (74) by four bolts; The two side anti-collision connecting plates (308) are symmetrically fixed on the two ends of the two upper transverse aluminum squares (307), and the two longitudinal anti-collision connecting plates (304) are symmetrically fixed on the two sides of the two lower longitudinal aluminum squares (301). The arc-shaped anti-collision beam (302) is fixed under the side anti-collision connecting plates (308) and on the longitudinal anti-collision connecting plates (304); the side armor plate installation module (305) is fixed on the side anti-collision connecting plates (308), and the longitudinal armor plate installation module (309) is fixed on the longitudinal anti-collision connecting plates (304). During the competition, four armor plates are installed on the longitudinal armor plate installation module (309) and the side armor plate installation module (305).

7. The independent suspension omnidirectional wheel semi-lower feeding sentry robot based on the Robomaster competition according to claim 6, characterized in that: The wheel set (40) is provided with four sets and is centrally symmetrically installed around the chassis bottom plate (303), the wheel set (40) comprises an omnidirectional wheel (41) and a suspension system (42), and the omnidirectional wheel (41) is connected to the chassis frame (30) through the suspension system (42); The suspension system (42) comprises a shock absorber (421), an isolation column (422), an electric regulator (423) and a motor (425); the upper end of the shock absorber (421) is connected to the upper plate (306) of the chassis via a shock absorber mounting seat (427); the isolation column (422) is connected to the top of the lower rocker arm (431) via bolts; the motor (425) is located below the shock absorber (421) and is fixed between the two upper rocker arms (428) via a motor mounting seat (426); the electric regulator (423) is installed between the shock absorber (421) and the motor (425) via an electric regulator fixing plate (424); The lower rocker arm (431) is embedded with two wheel flange bearings (435), the inner side of the lower rocker arm (431) is in close contact with the lower rocker arm bearing isolation plate (432), the inner side of the lower rocker arm bearing isolation plate (432) is in close contact with two rocker arm thrust ball bearings (433) and is fixedly connected to the motor mounting seat (426) by fastening bolts (434), and the upper end of the lower rocker arm (431) is fixedly connected to the rocker arm fixing plate (429); The upper rocker arm (428) is embedded with two wheel flange bearings (435); the inner side of the lower end of the upper rocker arm (428) is in close contact with the rocker arm gasket (430) and is connected in series with the upper end of the motor mounting seat (426) by means of a fastening bolt (434); the inner side of the upper end of the upper rocker arm (428) is in close contact with the rocker arm gasket (430) and is fixedly connected to the upper end of the rocker arm fixing plate (429); The omnidirectional wheel (41) comprises an outer wheel (411) and an inner wheel (412); inner and outer wheel pads (413) are arranged at the center of the outer wheel (411) and the inner wheel (412); the three are arranged in sequence and fixed on an omnidirectional wheel coupling (415) by bolts; a wheel set gasket (416) and a wheel set thrust ball bearing (417) are arranged in sequence on the inner side of the omnidirectional wheel coupling (415); and the wheel set thrust ball bearing (417) is fixed to the output shaft of the motor (425) by an outer clamping cover (414).

8. The independent suspension omnidirectional wheel semi-lower feeding sentry robot based on the Robomaster competition according to claim 7, characterized in that: The outer wheel (411) and the inner wheel (412) are arranged side by side, and each comprises two wheel outer plates (401), a wheel middle plate (403) and a plurality of rollers (402) on the outer periphery, wherein the wheel middle plate (403) is located between the two wheel outer plates (401), and the two ends of the plurality of rollers (402) distributed in a circular shape match with the wheel middle plate (403) and are limited by the wheel outer plates (401), and the three are closely attached to each other and are fastened together by a plurality of bolts; The two groups of rollers (402) on the outer wheel (411) and the inner wheel (412) are staggered.

9. The independent suspension omnidirectional wheel semi-lower feeding sentry robot based on the Robomaster competition according to claim 1, characterized in that: The control system (2) comprises a central integrated control panel (21), an industrial camera (10) and a small integrated computer (22), wherein the central integrated control panel (21) and the small integrated computer (22) are installed in a positioning frame, wherein the positioning frame is installed on the top of the launching mechanism (1), and the small integrated computer (22) is located at the rear side of the launching mechanism (1); The industrial camera (10) is installed at the front end of the positioning frame via a camera mounting plate (101) and is located above the launching barrel (12) of the launching mechanism (1). A camera cover plate (102) is provided on the top of the industrial camera (10).

10. The independent suspension omnidirectional wheel semi-lower feeding sentry robot based on the Robomaster competition according to claim 1, characterized in that: The radar system (5) comprises a MID-360 laser radar, a radar mounting plate (51), a radar protective shell (54) and a radar bracket (55); the radar bracket (55) is placed vertically and its bottom is fixed on the right side of the pan-tilt stand (3); the radar mounting plate (51) is fixed on the upper left of the radar bracket (55); the MID-360 laser radar is installed below the radar mounting plate (51); the radar protective shell (54) is located below the radar mounting plate (51); the outer edge of the radar protective shell (54) is clamped by an acrylic hemispherical fixing piece (53) and an acrylic hemispherical fixing plate (52) and then fixedly connected to the radar mounting plate (51) through an aluminum column; A light bar (201) and an image transmission module (202) for competition are respectively installed on the top and one side of the radar bracket (55).

Images