A sentinel robot based on robomaster competition independent suspension omni-directional wheel half-down supply

Abstract

The application discloses a kind of independent suspension omnidirectional wheel half under ammunition supply sentry robots based on Robomaster competition, it is related to robot technical field, including the chassis assembly assembled together, holder frame, launch assembly, radar system and control system, wherein launch assembly includes launch mechanism, half under ammunition supply mechanism and ammunition storage mechanism, launch mechanism is communicated with ammunition storage mechanism by half under ammunition supply mechanism and completes ammunition supply job;Chassis assembly includes the chassis frame and multiple wheel groups connected together.This application layout is reasonable, compact structure, chassis structure is simple and stable, maintainability is high;Adopt the half under ammunition supply mechanism of independent design, let ammunition storage mechanism no longer be directly connected with launch mechanism, greatly reduce the weight of launch mechanism, reduce the degree of difficulty of electric control debugging;Meanwhile, independent suspension and chassis frame are designed, and the adaptability of different terrains on the racecourse is good, and the omnidirectional wheel improves the autonomous motion and in-place high-speed rotation capability of the sentry robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a sentinel robot based on Robomaster competition and provided with independent suspension and omnidirectional wheels and half-down ammunition supply. BACKGROUND

[0002] In some Robomaster competition items, the competition content is that a sentinel robot attacks and destroys enemy robots and a sentry station armor plate through radar navigation and autonomous decision to launch projectiles, which requires the sentinel robot for the Robomaster competition to have the structures and functions of radar navigation, obstacle avoidance, enemy locking and ammunition storage and launching.

[0003] Therefore, how to design a sentinel robot based on Robomaster competition and provided with independent suspension and omnidirectional wheels and half-down ammunition supply to realize the completeness of the functions of the sentinel robot has become a difficult problem to be solved by those skilled in the art. SUMMARY

[0004] The present application aims to provide a sentinel robot based on Robomaster competition and provided with independent suspension and omnidirectional wheels and half-down ammunition supply to realize the completeness of the functions of the sentinel robot, and at the same time, the whole vehicle chassis has good passability, strong adaptability, autonomous motion and high-speed rotation in place, thereby solving the problems listed in the background art.

[0005] To solve the above technical problems, the present application adopts the following technical solutions:

[0006] The present application relates to a sentinel robot based on Robomaster competition and provided with independent suspension and omnidirectional wheels and half-down ammunition supply, which comprises a chassis assembly, a holder, a launching assembly, a radar system and a control system.

[0007] The holder is rotatably connected to the chassis assembly, the radar system is fixed to the top of the holder, the control system is installed in the upper middle part of the holder, and the launching assembly and the power components in the chassis assembly are electrically connected to the control system.

[0008] The launching assembly comprises a launching mechanism, a half-down ammunition supply mechanism and an ammunition storage mechanism, the launching mechanism is rotatably connected to the holder, the ammunition storage mechanism and the half-down ammunition supply mechanism are fixedly connected to the holder, and the launching mechanism is in communication with the ammunition storage mechanism through the half-down ammunition supply mechanism to complete the ammunition supply operation.

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

[0010] Preferably, the launching mechanism is mounted on the front side of the top of the holder and above the cartridge mechanism, the cartridge mechanism is fixed at the center of the holder, and the half-down feeding mechanism is fixed below and on one side of the cartridge mechanism;

[0011] The launching mechanism includes a launching barrel, two U-shaped limiters, two accelerating friction wheels, and an S-shaped link upper segment. The two U-shaped limiters are fixed in the upper and lower grooves of the launching barrel, which is fixed on the launching mechanism bottom plate. The two accelerating friction wheels are symmetrically distributed on both sides of the launching barrel, the bottom of the accelerating friction wheel is in transmission connection with the friction wheel driving motor, and the friction wheel driving motor is fixed on the launching mechanism bottom plate. The S-shaped link upper segment is designed as a curved structure, one end of the S-shaped link upper segment is rotationally connected to the left side of the pitch transmission mechanism, the other end of the S-shaped link upper segment is fixed on the inlet side of the launching barrel and communicates with the launching barrel, and the side of the launching mechanism bottom plate away from the S-shaped link upper segment is rotationally connected to the right side of the pitch transmission mechanism through a side aluminum block. A speed measurement module is installed on the outlet side of the launching barrel during the competition.

[0012] The half-down feeding mechanism includes an S-shaped link middle and lower segment, a feeding disc, a flow guide block, and a feeding gear. The feeding disc is connected to the holder through a disc fixing plate and is close to the bottom, the top opening of the feeding disc communicates with the bottom end of the cartridge mechanism, the bottom of one side of the feeding disc communicates with the bottom port of the S-shaped link middle and lower segment, the feeding gear is rotationally connected in the feeding disc, the feeding disc bottom end is provided with a feeding motor, and the output shaft of the feeding motor is connected with the feeding gear through a small coupling. The feeding motor is installed on the disc bottom plate through a feeding motor fixing seat, a anti-jamming fixing plate is arranged above the disc bottom plate, and the flow guide block is fixed on the front end of the disc bottom plate and corresponds to the feeding inlet of the S-shaped link middle and lower segment.

[0013] The bottom of the S-shaped link middle and lower segment is fixedly connected to the bottom plate of the holder through a lower link fixing block, and the upper port of the S-shaped link middle and lower segment is fixedly connected to the upper end of the holder through an upper link fixing block, and the upper port of the S-shaped link middle and lower segment communicates with the feeding inlet of the S-shaped link upper segment.

[0014] Preferably, the S-shaped link middle and lower segment is designed as an S shape, a large number of small bearings are installed in the internal groove of the S-shaped link middle and lower segment, the small bearings are mainly distributed at the upper and lower S-shaped curved grooves, and the whole is composed of five layers of stacked plates.

[0015] Preferably, the launching mechanism is rotatably connected with the holder through a pitch transmission mechanism, a pitch flange bearing is embedded in a side fixed hole of the holder, the pitch flange bearing is clamped and fixed through a pitch inner clamping plate and a pitch outer clamping plate, and an inner ring of the pitch flange bearing is positioned and connected with a support plate on an upper segment of the S-shaped link.

[0016] Further comprising a connecting rod bearing, a short connecting rod, a long connecting rod and a pitch motor, the pitch motor is fixed on the holder bottom plate, an output end of the pitch motor is connected with one end of the short connecting rod through a transmission part, the other end of the short connecting rod is embedded with the connecting rod bearing and rotatably connected with a bottom end of the long connecting rod, a top end of the long connecting rod is rotatably connected with an upper connecting rod above through the connecting rod bearing, the upper connecting rod is positioned with a pitch flange bearing embedded in a top end of the other side plate of the holder through a bearing pressing ring, the pitch flange bearing is rotatably connected with a side aluminum block fixedly connected on one side of the launching mechanism bottom plate; the short connecting rod, the long connecting rod and the upper connecting rod form a connecting rod transmission pair, the pitch motor drives the connecting rod transmission pair to move through the transmission part, and the connecting rod transmission pair drives the launching mechanism bottom plate and the launching mechanism above to rotate around the axes of the two pitch flange bearings through the pitch flange bearing.

[0017] Preferably, the bottom end of the holder is rotatably connected on the chassis frame through a yaw transmission mechanism, the yaw transmission mechanism comprises a yaw shaft drive motor, a yaw shaft bearing, a clamping and fixing part and a mosquito coil plate, an output shaft of the yaw shaft drive motor extends to above the chassis assembly, the yaw installation plate is sleeved on the output shaft of the yaw shaft drive motor and placed on the chassis assembly, and the yaw installation plate is connected on the chassis bottom plate of the chassis assembly through bolts; the inner pad of the clamping and fixing part is fixedly connected with the mosquito coil plate and the lower end of the holder, the outer pad of the clamping and fixing part is fixedly connected with the chassis upper plate above the chassis frame, and the yaw shaft bearing is embedded in the clamping and fixing part.

[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 vertically fixedly connected below and above the chassis bottom plate respectively, and the three are fixedly connected on the yaw installation plate through four bolts.

[0019] Two said side anti-collision connecting plates are symmetrically fixed at two ends of the two upper transverse aluminum squares, and two said longitudinal anti-collision connecting plates are symmetrically fixed on two sides of the two lower longitudinal aluminum squares, the said arc-shaped anti-collision beams are fixed below the side anti-collision connecting plates and above the longitudinal anti-collision connecting plates, the said side armor plate installation modules are fixed on the side anti-collision connecting plates, and the said longitudinal armor plate installation modules are fixed on the longitudinal anti-collision connecting plates, and four armor plates are installed on the longitudinal armor plate installation modules and the side armor plate installation modules during the competition.

[0020] Preferably, the wheel set is provided with four groups and is centrally symmetrically installed around the chassis bottom plate, 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 comprises a shock absorber, an isolation column, an electronic governor and a motor, the upper end of the shock absorber is connected to the chassis upper plate through a shock absorber mounting seat, the top end of the lower rocker arm is connected to the isolation column through a bolt, the motor is located below the shock absorber and is fixed in the middle of the two upper rocker arms through a motor mounting seat, and the electronic governor is installed between the shock absorber and the motor through an electronic governor fixing plate.

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

[0023] The upper rocker arm is embedded with two wheel set flange bearings, the lower end of the upper rocker arm is close to a rocker arm gasket on the inner side and is fixed in series with the upper end of the motor mounting seat through fastening bolts, and the upper end of the upper rocker arm is close to a rocker arm gasket on the inner side and is fixedly connected with the upper end of the rocker arm fixing plate.

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

[0025] Preferably, the outer wheel and the inner wheel are arranged side by side and each comprises two wheel outer plates, a wheel middle clamping plate and a plurality of rollers on the outer periphery, the wheel middle clamping plate is located in the middle of the two wheel outer plates, a plurality of circularly distributed rollers are matched with the wheel middle clamping plate at both ends and form a limit through the wheel outer plates, the three are close to each other and are fixedly connected together through a plurality of bolts, and the two groups of rollers on the outer wheel and the inner wheel are distributed in a staggered manner.

[0026] Preferably, the control system comprises a central integrated control panel, an industrial camera and a small integrated computer, the central integrated control panel and the small integrated computer are installed in a positioning frame, the positioning frame is installed on the top of the launching mechanism, 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 the top of the industrial camera is provided with a camera cover plate.

[0027] Preferably, the radar system comprises a MID-360 laser radar, a radar mounting plate, a radar protection shell and a radar support, the radar support is vertically placed and fixed at the bottom on the right side of the holder, the radar mounting plate is fixed on the upper left side of the radar support, the MID-360 laser radar is installed below the radar mounting plate, the radar protection shell is located below the radar mounting plate, the outer edge of the radar protection shell is fixedly connected with the radar mounting plate through an acrylic hemisphere fixing piece, an acrylic hemisphere fixing plate and an aluminum column; the top and one side of the radar support are respectively provided with a light bar for competition and a video transmission module.

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

[0029] 1) The present application is a kind of independent suspension omnidirectional wheel half under ammunition feeding sentinel robot based on Robomaster competition, comprising chassis assembly, holder, launching assembly, radar system and control system, the above components or systems are integrated and connected together;Wherein, the chassis assembly is formed by a chassis frame and a plurality of wheel groups, which reduces the overall height of the sentinel robot and adjusts the position of the yaw shaft driving motor for driving the holder, significantly reduces the overall gravity center, and enhances the stability of the robot movement;The present application adopts the self-designed half under ammunition feeding structure and mode, so that the ammunition cabin is not directly connected with the launching mechanism, which greatly reduces the weight of the launching mechanism;Compared with the traditional upper ammunition feeding mechanism, the half under ammunition feeding mechanism of the present application separates the ammunition cabin and the ammunition feeding disc from the launching mechanism, so that the total mass driven by the pitch motor is reduced, the moment of inertia of the pitch shaft (referring to the horizontal rotation center of the pitch transmission mechanism) of the launching mechanism is also significantly reduced, and the response of the launching mechanism is more rapid;In addition, the placement of the control system, the industrial camera and other parts is more reasonable, so that the overall gravity center of the launching mechanism is in the center and close to the pitch shaft rotation center;In addition, the traditional upper ammunition feeding mechanism has variable pitch shaft moment of inertia in the full cabin and empty cabin states of the ammunition cabin, which is not conducive to the debugging of the pitch motor, while the present application eliminates the change of the pitch shaft moment of inertia caused by the change of the number of projectiles in the ammunition cabin, facilitates the debugging of the pitch motor and reduces the difficulty of electric control debugging.

[0030] 2) The s-shaped link structure design of the present application makes the entire link projectile regularly arranged in the link under the action of gravity, making the entire ammunition feeding system more stable; wherein the upper segment of the s-shaped link is fixed on the launch barrel, making the overall link more stable; the small bearing placed at the s-shaped arc of the lower segment of the s-shaped link reduces the transmission power required by the projectile, reducing the burden of the bullet ejecting motor, thereby reducing the damage to the bullet ejecting motor; the design of the s-shaped link makes the lower end of the gimbal frame small, which can match a smaller chassis, and releases the chassis space; at the same time, the semi-under ammunition feeding mechanism of the present application avoids the bullet jamming phenomenon in the conveying link; in addition, after the projectile comes out of the semi-under ammunition feeding mechanism, it enters the launch system through the pitch shaft core, so that the movement of the launch mechanism in the pitch shaft direction does not affect the movement trajectory of the projectile, and the problem of change of the center of gravity of the launch structure caused by the movement of the pitch shaft in the traditional upper ammunition feeding mode is avoided, ensuring the stability of the launch mechanism action.

[0031] In addition, the U-shaped limiting of the launch mechanism of the present application improves the launch precision and stability, and can reach 10 meters scattered in a 100mm*100mm square array in tests and actual competitions.

[0032] 3) The camera of the industrial camera is fixed between the camera mounting plate and the camera cover plate in the present application, the upper and lower two plates are fixed through the adapter, the camera mounting plate is fixed on the launch barrel, which is convenient to disassemble, and the fixed connection with the barrel can reduce interference.

[0033] 4) The chassis assembly in the present application is reasonable in layout, simple in structure and convenient and fast to assemble; wherein the horizontal and vertical aluminum square is sandwiched with the chassis bottom plate, which not only has stable structure but also generates an up-down height difference that can directly install horizontal and vertical anti-collision connecting plates, and the outer side adopts an arc-shaped aluminum square to form a protective beam, which ensures passability while having higher strength; the armor plate installation modules are distributed in a circumferential symmetry, and are arranged in a height staggered manner.

[0034] 5) The independent suspension design of the omni-directional wheel makes the four shock absorbers independent of each other when encountering undulating road sections, the lower rocker arm pushes the lower end of the shock absorber to compress the spring, and the shock is performed, which can easily pass through a 20cm height difference; at the same time, when a greater impact force is received, the shock absorber is close to 90° with the vertical direction, which improves the efficiency of the shock absorber.

[0035] 6) The large up-down difference of the armor plate can better avoid enemy projectile shooting.

[0036] 7) The inverted radar design at the top of the present application greatly utilizes the maximum scanning area of the radar, so that the point cloud map constructed by scanning can identify more obstacle information, providing the most basic map information for the subsequent robot obstacle avoidance function, and the information is more comprehensive and perfect, and has higher matching degree with the actual scene. BRIEF DESCRIPTION OF DRAWINGS

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

[0038] Figure 1 This is a schematic diagram of the overall structure of the Sentinel Robot with Independent Suspension Omnidirectional Wheels and Semi-Under-Feeding Based on the Robomaster Competition, based on the present invention.

[0039] Figure 2 This is an axial view of the gimbal frame and multiple structures above it in this invention. Figure 1 ;

[0040] Figure 3 This is an isometric view of the launching mechanism of the present invention;

[0041] Figure 4 This is an exploded view of the yaw transmission mechanism of the present invention;

[0042] Figure 5 This is an isometric view of the radar system of the present invention;

[0043] Figure 6 This is an exploded view of the control system of the present invention;

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

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

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

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

[0048] Figure 11 This is a detailed schematic diagram of the lower segment of the S-shaped link in this invention;

[0049] Figure 12 This is an exploded view of the upper segment of the S-shaped link of the present invention;

[0050] Figure 13 This is a schematic diagram of the gimbal frame of the present invention;

[0051] Figure 14 This is a schematic diagram of the ammunition storage mechanism of the present invention;

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

[0053] Figure 16 This is an exploded view of the wheel assembly of the present invention;

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

[0055] Figure 18 This is an exploded view showing the details of the inner and outer wheels of the present invention;

[0056] Figure 19 A schematic diagram of the connection structure between the lower segment of the S-shaped link and the link fixing block in this invention;

[0057] Figure 20 This is an axial view of the gimbal frame and multiple structures above it in this invention. Figure 2 ;

[0058] Figure 21 This is a schematic diagram of the connection structure between the launching mechanism and the lower feeding mechanism of the present invention;

[0059] Explanation of reference numerals in the attached figures:

[0060] 1. Launching mechanism; 2. Control system; 3. Gimbal frame; 4. Chassis; 5. Radar system; 6. Pitch transmission mechanism; 7. Yaw transmission mechanism; 8. Semi-lower feeding mechanism; 9. Ammunition storage mechanism; 10. Industrial camera; 11. Upper section of S-shaped link; 12. Launching barrel; 13. Accelerating friction wheel; 14. Launching mechanism base plate; 15. U-shaped limit switch; 14-1. Side aluminum block; 14-2. Support plate;

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

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

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

[0064] 411. Outer wheel; 412. Inner wheel; 413. Inner and outer wheel pads; 414. Pressure cap; 415. Omnidirectional wheel coupling; 416. Wheel set gasket; 417. Wheel set thrust ball bearing;

[0065] 401. Wheel outer plate; 402. Roller; 403. Wheel inner plate;

[0066] 421. Shock absorber; 422. Isolation post; 423. ESC; 424. ESC mounting base; 425. Motor; 426. Motor mounting base; 427. Shock absorber mounting base; 428. Upper rocker arm; 429. Rocker arm mounting plate; 430. Rocker arm gasket; 431. Lower rocker arm; 432. Lower rocker arm bearing isolator; 433. Wheelset thrust ball bearing; 434. Fastening bolts; 435. Wheelset 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. Inner pitch clamp; 63. Outer pitch clamp; 64. Pitch flange bearing; 65. Connecting rod bearing; 66. Short connecting rod; 67. Long connecting rod; 68. Transmission component; 69. Pitch motor; 64-1. Bearing pressure ring;

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

[0070] 81. Lower section of S-shaped link; 82. Picking disc; 83. Picking teeth; 84. Guide block; 85. Picking motor mounting base; 86. Picking disc base plate; 87. Anti-jamming fixing plate; 88. Small coupling; 89. Link fixing block;

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

[0072] 201. LED strip; 202. Image transmission module; 203. Speed ​​measurement module; 204. Main control module; Detailed Implementation

[0073] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0074] like Figures 1-21 As shown, a RoboMaster-based sentry robot with independent suspension, omnidirectional wheels, and semi-lower-feed armature includes a chassis assembly 4, a gimbal 3, a launching assembly, a radar system 5, and a control system 2. The gimbal 3 is rotatably connected to the chassis assembly 4. The radar system 5 is fixed to the top of the gimbal 3. The control system 2 is installed in the upper middle part of the gimbal 3, and the launching assembly and the power components within the chassis assembly 4 are electrically connected to the control system 2. The structure of the gimbal 3 is as follows: Figure 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 gimbal frame 3. The ammunition storage mechanism 9 and the semi-lower ammunition feeding mechanism 8 are both fixedly connected to the gimbal frame 3. The launching mechanism 1 communicates with 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 connected together and multiple wheel sets 40, the multiple wheel sets 40 being mounted on the chassis frame 30 and distributed in a centrally symmetrical manner.

[0077] Specifically, in use, the chassis assembly 4 is used to drive the entire robot to move, and the radar system 5 completes the scanning and control system to jointly make control decisions on the robot's movement; the gimbal 3 is used to support the launching mechanism 1, and the launching mechanism 1 aims by rotating on the gimbal and rotating on the chassis assembly 4 respectively, and after aiming, the launching mechanism 1 launches the projectile; 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 to undertake the navigation function.

[0078] In this design, neither the semi-lower feeding mechanism 8 nor the ammunition storage mechanism 9 moves with the launching mechanism 1. This allows the weight of the ammunition storage mechanism 9 and the initial projectile to be borne by the gimbal frame 3, thereby reducing the overall weight of the launching mechanism 1. This ensures that the amount of projectile does not affect the operation of the launching mechanism, eliminating the adverse effects of the ammunition load on the control pitch axis (referring to the horizontal rotation center of the pitch transmission mechanism) and greatly reducing the burden of adjusting the launching mechanism parameters. This design increases the ammunition load. At the same time, the control system is placed behind the launching mechanism, which not only facilitates the control of the vehicle's movement and track layout, but also ensures that the two mechanisms are balanced so that the center of gravity is at the center of the pitch transmission mechanism, which is beneficial for aiming and response.

[0079] Specifically, the launching mechanism 1 is installed on the front side of the top of the gimbal frame 3 and above the ammunition storage mechanism 9. The ammunition storage mechanism 9 is fixed at the center of the gimbal frame 3. The semi-lower ammunition feeding mechanism 8 is fixed below and to one side of the ammunition storage mechanism 9. The external structure of the ammunition storage mechanism 9 is as follows: Figure 14 As shown. Specifically, the choice of this installation position lowers the center of gravity of the yaw transmission mechanism and reduces its moment of inertia. This not only makes the yaw shaft (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 Figures 2-3 , Figure 12 , Figures 20-21As shown, the launching mechanism 1 includes a launching barrel 12, U-shaped limiters 15, accelerating friction wheels 13, and an upper S-shaped link section 11. Two U-shaped limiters 15 are fixed in the upper and lower grooves of the launching barrel 12. The launching barrel 12 is fixed to the base plate 14 of the launching mechanism. Two accelerating friction wheels 13 are symmetrically distributed on both sides of the launching barrel 12. The bottom of each accelerating friction wheel 13 is connected to a friction wheel drive motor, which is fixed to the base plate 14 of the launching mechanism. The friction wheel drive motor is electrically connected to the control system for automated control. When the friction wheel drive motor starts, it drives the accelerating friction wheels 13 to rotate at high speed, providing the projectile launching power. The upper S-shaped link section 11 is fixed to... The upper section 11 of the S-shaped link is designed as a curved structure, making the overall link more stable. One end of the upper section 11 is rotatably connected to the left side of the pitch transmission mechanism 6, and the other end is fixed to the inlet side of the firing barrel 12 and connected to the firing barrel 12. The side of the firing mechanism base plate 14 away from the upper section 11 is rotatably connected to the right side of the pitch transmission mechanism 6 through a side aluminum block. During the competition, a speed measuring module 203 is installed on the outlet side of the firing barrel 12. Specifically, the U-shaped limiter improves the firing accuracy and stability. In tests and actual competitions, it can achieve a 10-meter spread in a 100mm*100mm square.

[0081] like Figure 7 , Figure 11 , Figure 19 , Figure 21 As shown, the semi-lower feeding mechanism 8 includes a lower section 81 of an S-shaped link, a feeding disc 82, a guide block 84, and feeding teeth 83. The feeding disc 82 is connected to the gimbal frame 3 near the bottom via a feeding disc fixing plate. The top opening of the feeding disc 82 communicates with the bottom end of the ammunition storage mechanism 9. The bottom of one side of the feeding disc 82 communicates with the bottom port of the lower section 81 of the S-shaped link. The feeding teeth 83 are rotatably connected inside the feeding disc 82. A feeding motor is installed at the bottom of the feeding disc 82, and the output shaft of the feeding motor is connected via a small coupling. The shaft 88 is connected to the paddle 83; the paddle motor is mounted on the dial base plate 86 via the paddle motor mounting base 85, and an anti-jamming mounting plate 87 is arranged parallel above the dial base plate 86; the guide block 84 is fixed to the front end of the dial base plate 86 and corresponds to the inlet of the lower section 81 of the S-shaped link; specifically, the paddle motor mounting base 85 is made of CNC aluminum alloy to avoid the problem of material deformation due to motor heat during use; the paddle motor is electrically connected to the control system 2 to realize automated control of the action;

[0082] The bottom of the lower segment 81 of the S-shaped link is fixedly connected to the base plate of the gimbal frame 3 via a lower link fixing block 89. The upper port of the lower segment 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. The upper port of the lower segment 81 of the S-shaped link is connected to the missile inlet of the upper segment 11 of the S-shaped link.

[0083] like Figure 11 As shown, the lower section 81 of the S-shaped link is specifically designed in an S-shape. Numerous small bearings are installed in the internal grooves of the lower section 81, mainly distributed at the upper and lower S-bend grooves. The entire section is composed of five layers of stacked plates. The use of small bearings reduces the transmission power required for the projectile, lessening the burden on the projectile-feeding motor and thus reducing damage to it.

[0084] Specifically, the ammunition storage mechanism 9 has its ammunition compartment and feed plate 82 fixedly connected to the gimbal frame 3. The top of the feed plate is fixedly connected to the bottom of the ammunition compartment. The feed teeth 83 rotate to push the projectile through the guide block 84 into the lower section 81 of the S-shaped link. At the same time, the anti-jamming fixing plate 87 stabilizes the system and prevents other projectiles from colliding with the projectile entering the lower section of the S-shaped link. The projectile enters the upper section 11 of the S-shaped link along the lower section 81. At this time, the small bearings in the entire link reduce damping and reduce the burden on the feed motor. This S-shaped link structure makes the projectiles in the entire link arranged in a regular and dense manner under the action of gravity, making the entire ammunition feeding system more stable.

[0085] During operation, the projectile placed in the magazine falls into the feed plate 82 under the action of gravity. The feed motor starts and drives the feed tooth 83 to rotate. The feed tooth 83 moves the projectile, providing transmission power to the projectile and feeding it into the lower half of the feeding mechanism 8. The projectile is then conveyed through the lower section 81 and the upper section 11 of the S-shaped link and enters the firing barrel 12 of the firing mechanism 1. When it moves, it reaches the U-shaped limit 15 and adjusts its position. Then it touches the acceleration friction wheel 13. The acceleration friction wheel 13 rotates at high speed and contacts the projectile through friction, so that the projectile gains kinetic energy and completes the firing operation along the firing barrel 12.

[0086] Traditional cartridge detonators use a small bearing at the ejection port to lubricate and accelerate the projectiles. However, this method is prone to jamming because the magazine and cartridge detonator are connected. After the required projectiles are placed in the magazine, they fall into the cartridge detonator under gravity. The lower projectiles fall into the teeth of the detonator first, while the upper projectiles stack on top of the lower ones. Therefore, when a projectile is ejected from the ejection port, the upper projectiles fall directly into the ejection port, jamming the detonator and causing uneven or even non-ejection. With the anti-jamming fixing plate, when a projectile is ejected, the upper projectiles slide down the anti-jamming fixing plate onto the detonator's teeth or into the teeth of a detonator without projectiles, instead of falling directly into the ejection port. This prevents blockage at the ejection port and ultimately makes the projectile ejection process 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. Therefore, the dial base 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 debris.

[0088] like Figures 8-9 , Figure 21 As shown, the launching mechanism 1 is rotatably connected to the gimbal frame 3 via the 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 the pitch inner clamping plate 62 and the 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. Specifically, by adding the pitch shaft inner clamping plate 62 and the pitch shaft outer clamping plate 63 to axially fix the pitch flange bearing on the gimbal frame, the structural strength is improved, and the problems of slippage of the pitch shaft flange in the early stage of use and insufficient structural stability of the prior art are solved.

[0089] It also includes a connecting rod bearing 65, a short connecting rod 66, a long connecting rod 67, and a pitch motor 69. The pitch motor 69 is fixed to the base plate of the gimbal frame 3. The output end of the pitch motor 69 is connected to one end of the short connecting rod 66 through a transmission component 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 it through the connecting rod bearing 65. The upper connecting rod 61 is positioned by a bearing pressure ring 64-1 and a pitch flange bearing 64 embedded in the top of the other side plate of the gimbal frame 3. The pitch flange bearing 64 is rotatably connected to a side aluminum block 14-1 fixedly connected to one side of the base 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 linkage transmission pair. During operation, the pitch motor 69 starts and drives the linkage transmission pair to move through the transmission component 68. The linkage transmission pair drives the base plate 14 of the launching mechanism and the launching mechanism 1 above it to rotate around the axis of the two pitch flange bearings 64 through the pitch flange bearings 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 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 of the launch mechanism 1 in the pitch axis direction will not affect the trajectory of the projectile. This avoids the problem of the change in the center of gravity of the launch structure caused by the movement of the pitch axis in the traditional upper feeding mode, and ensures the stability of the launch mechanism's operation. At the same time, it reduces the influence of the rotational inertia of the yaw axis and lowers the center of gravity of the entire vehicle.

[0092] like Figure 4 As shown, the bottom end of the gimbal frame 3 is rotatably connected to the chassis frame 30 via a yaw transmission mechanism 7. The yaw transmission mechanism 7 includes a yaw shaft drive motor 75, a yaw shaft bearing 71, a clamping fastener 72, and a mosquito coil plate 73. The output shaft of the yaw shaft drive motor 75 extends above the chassis assembly 4. A yaw mounting plate 74 is sleeved around the output shaft of the yaw shaft drive motor 75 and placed on the chassis assembly 4. The yaw mounting plate 74 is bolted to the chassis base plate 303 of the chassis assembly 4. The inner pad of the clamping fastener 72 is fixedly connected to the mosquito coil plate 73 and the lower end of the gimbal frame 3, and the outer pad of the clamping fastener 72 is fixedly connected to the chassis upper plate 306 above the chassis frame 30. The yaw shaft bearing 71 is embedded in the clamping fastener 72.

[0093] Specifically, this invention simplifies the yaw transmission mechanism 7, making installation and operation more convenient and faster compared to the complex design of traditional yaw shaft structures. Specifically, the yaw shaft bearing 71 is fixed by two clamping fasteners 72, and the yaw shaft drive motor 75 is directly connected to the mosquito coil plate 73 and indirectly fixed to the gimbal frame 3. The lower part of the yaw shaft drive motor 75 is fixed to the chassis base plate 303 along with the yaw mounting plate 74. The structure is simple and has stable strength.

[0094] Specifically, the yaw axis drive motor 75 adopts a GM6020 DC brushless motor. This motor is divided into upper and lower parts and is assembled into the designated position of the yaw transmission mechanism 7. When in use, after the yaw axis drive motor is started, it drives the upper gimbal 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 plate 73. The rotation and speed of the launch mechanism in the yaw angle direction can be controlled by the yaw axis drive motor.

[0095] In this 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 feed back the control status to the control system. The specific actions of the motors can also be controlled by the control system.

[0096] like Figure 1 , Figure 15 As shown, the chassis frame 30 includes a lower longitudinal aluminum square 301, an arc-shaped anti-collision beam 302, a chassis base plate 303, a chassis top 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 vertically and fixedly connected to the lower and upper parts of the chassis base plate 303, respectively, and the three are fixedly connected to the yaw mounting plate 74 by four bolts;

[0097] Two side impact protection connecting plates 308 are symmetrically fixed at both ends of two upper transverse aluminum squares 307, and two longitudinal impact protection connecting plates 304 are symmetrically fixed on both sides of two lower longitudinal aluminum squares 301. The arc-shaped impact beam 302 is fixed below the side impact protection connecting plates 308 and on the longitudinal impact protection connecting plates 304. Specifically, a battery 310 for power supply is installed inside one longitudinal impact protection connecting plate 304. During the competition, the side armor plate mounting module 305 is first fixed on the side impact protection connecting plate 308, and the longitudinal armor plate mounting module 309 is fixed on the longitudinal impact protection 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 the same height.

[0098] Specifically, unlike the common omnidirectional wheel grid frame design, the chassis base plate is sandwiched between the horizontal and vertical aluminum squares in this invention, making the structure more stable. At the same time, the resulting height difference allows for the direct installation of horizontal and vertical anti-collision connecting plates. The outer side uses arc-shaped aluminum squares, which ensures passability while also increasing strength.

[0099] Specifically, the wheel set 40 is provided in four sets and is centrally symmetrically installed around the chassis base 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 , Figure 16 As shown, the suspension system 42 includes a shock absorber 421, an isolation column 422, an electronic speed controller (ESC) 423, and a motor 425. The upper end of the shock absorber 421 is connected to the upper chassis plate 306 via a shock absorber mounting bracket 427. The isolation column 422 is bolted to the top of the lower rocker arm 431. The motor 425 is located below the shock absorber 421 and is fixed between the two upper rocker arms 428 via a motor mounting bracket 426. The ESC 423 is installed between the shock absorber 421 and the motor 425 via an ESC mounting plate 424.

[0101] The lower rocker arm 431 has two wheel flange bearings 435 embedded inside. 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 base 426 by fastening bolts 434. At the same time, 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 inside. 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 fixedly connected to the upper end of the motor mounting base 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 independent suspension design allows the four shock absorbers 421 to operate independently when encountering undulating road sections. The lower rocker arm 431 pushes the lower end of the shock absorber 421 to compress the spring for shock absorption, which can easily handle a height difference of 20cm. At the same time, when subjected to greater impact force, the shock absorber is close to 90° with the vertical direction, which improves the efficiency of the shock absorber.

[0103] like Figures 17-18 As shown, the omnidirectional wheel 41 includes an outer wheel 411 and an inner wheel 412. The outer wheel 411 and the inner wheel 412 are provided with inner and outer wheel pads 413 at their centers, and the three are arranged in sequence and fixed to the omnidirectional wheel coupling 415 by bolts. The inner side of the omnidirectional wheel coupling 415 is provided with a wheel set pad 416 and a wheel set thrust ball bearing 417 in sequence, and is fixed to the output shaft of the motor 425 by an outer pressure cover 414.

[0104] Specifically, the outer wheel 411 and the inner wheel 412 are arranged side by side, each including two outer wheel plates 401, a wheel clamping plate 403, and multiple rollers 402 on the outer periphery. The wheel clamping plate 403 is located in the middle of the two outer wheel plates 401. The multiple rollers 402, which are arranged in a circle, are matched with the wheel clamping plate 403 at both ends and are limited by the outer wheel plates 401. The three are closely attached to each other and fastened together by multiple bolts. The two sets of rollers 402 on the outer wheel 411 and the inner wheel 412 are staggered.

[0105] like Figure 6 , Figure 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, which is installed on top of the launching mechanism 1. 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 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.

[0106] Specifically, the control system 2 and the industrial camera 10 are placed at the rear and front of the launching mechanism 1, respectively, making the entire launching mechanism compact and centered, and the control more stable. At the same time, the camera of the industrial camera is fixed 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 launching barrel, which is easy to disassemble. At the same time, the fixed connection with the barrel can 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 its bottom is fixed to the right side of the gimbal frame 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 fastener 53 and an acrylic hemispherical fastener 52, and then fixedly connected to the radar mounting plate 51 by an aluminum column. The top and one side of the radar bracket 55 are respectively equipped with a competition light strip 201 and an image transmission module 202.

[0108] Specifically, the radar system 5 adopts an inverted design, which makes full use of the radar's maximum scanning area, allowing the point cloud map built by scanning to identify more obstacle information. This provides the most basic map information for the robot's subsequent obstacle avoidance function, making the information more comprehensive and complete, and more closely matching the actual scene.

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

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

[0111] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A sentry robot based on the RoboMaster competition, featuring independent suspension, omnidirectional wheels, and semi-lower ammunition feeding, characterized in that: The system includes a chassis assembly (4), a gimbal frame (3), a launch assembly, a radar system (5), and a control system (2). The gimbal frame (3) is rotatably connected to the chassis assembly (4). The radar system (5) is fixed to the top of the gimbal frame (3). The control system (2) is installed in the upper middle part of the gimbal frame (3). The launch assembly and the power components in the chassis assembly (4) are electrically connected to the control system (2). 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 gimbal frame (3). The ammunition storage mechanism (9) and the semi-lower ammunition feeding mechanism (8) are both fixedly connected to the gimbal frame (3). The launching mechanism (1) communicates with the ammunition storage mechanism (9) through the semi-lower ammunition feeding mechanism (8) and completes the ammunition feeding operation. The chassis assembly (4) includes a chassis frame (30) connected together and a plurality of wheel sets (40), the plurality of wheel sets (40) being mounted on the chassis frame (30) and being centrally symmetrically distributed; The launching mechanism (1) is installed on the front side of the top of the gimbal frame (3) and above the ammunition storage mechanism (9). The ammunition storage mechanism (9) is fixed at the center of the gimbal frame (3). The semi-lower ammunition supply mechanism (8) is fixed below and to one side of the ammunition storage mechanism (9). The launching mechanism (1) includes a launching barrel (12), U-shaped limiters (15), accelerating friction wheels (13), and an upper section (11) of an S-shaped link. Two U-shaped limiters (15) are fixed in the upper and lower grooves of the launching barrel (12). The launching barrel (12) is fixed to the base plate (14) of the launching mechanism. Two accelerating friction wheels (13) are symmetrically distributed on both sides of the launching barrel (12). The bottom of each accelerating friction wheel (13) is connected to a friction wheel drive motor. The friction wheel drive motor is fixed to the base plate (14) of the launching mechanism. 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 firing barrel (12) and communicates with the firing barrel (12). The side of the firing mechanism base 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 the side aluminum block. During the competition, a speed measuring module (203) is installed on the outlet side of the firing barrel (12). The semi-lower feeding mechanism (8) includes a lower section of an S-shaped link (81), a feeding disc (82), a guide block (84), and a feeding tooth (83). The feeding disc (82) is connected to the gimbal frame (3) near the bottom via a feeding disc fixing plate. The top opening of the feeding disc (82) is connected to the bottom end of the ammunition storage mechanism (9). The bottom of one side of the feeding disc (82) is connected to the bottom port of the lower section of the S-shaped link (81). The feeding tooth (83) is rotatably connected inside the feeding disc (82). A feeding motor is installed at the bottom end of the feeding disc (82). The output shaft of the feeding motor is connected to the feeding tooth (83) via a small coupling (88). The trolley motor is mounted on the dial base plate (86) via the trolley motor mounting base (85). An anti-jamming mounting plate (87) is arranged parallel above the dial base plate (86). The guide block (84) is fixed at the front end of the dial base plate (86) and corresponds to the trolley inlet of the 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 base plate of the gimbal frame (3) through a 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) through a link fixing block (89) above. The upper port of the lower section (81) of the S-shaped link is connected to the missile inlet of the upper section (11) of the S-shaped link. The lower section (81) of the S-shaped link is designed as an S-shape. 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 distributed in the upper and lower S-shaped grooves. The whole is composed of five layers of plates stacked together. The bottom end of the gimbal frame (3) is rotatably connected to the chassis frame (30) via a yaw transmission mechanism (7). The yaw transmission mechanism (7) includes a yaw shaft drive motor (75), a yaw shaft bearing (71), a clamping fastener (72), and a mosquito coil plate (73). The output shaft of the yaw shaft drive 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 shaft drive motor (75). The chassis frame (30) includes a lower... The chassis includes a longitudinal aluminum square (301), an arc-shaped anti-collision beam (302), a chassis bottom plate (303), a chassis top 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 vertically and fixedly connected to the chassis bottom plate (303) below and above, respectively, and the three are fixedly connected to the yaw mounting plate (74) by four bolts. Two side impact protection connecting plates (308) are symmetrically fixed at both ends of two upper transverse aluminum squares (307), and two longitudinal impact protection connecting plates (304) are symmetrically fixed on two lower longitudinal aluminum squares (301). The arc-shaped impact beam (302) is fixed below the side impact protection connecting plate (308) and on the longitudinal impact protection connecting plate (304). The side armor plate mounting module (305) is fixed on the side impact protection connecting plate (308), and the longitudinal armor plate mounting module (309) is fixed on the longitudinal impact protection connecting plate (304). During the competition, four armor plates are installed on the longitudinal armor plate mounting module (309) and the side armor plate mounting module (305). The wheel set (40) is provided in four sets and is centrally symmetrically installed around the chassis base 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). The suspension system (42) includes a shock absorber (421), a bobbin (422), an electronic speed controller (ESC) (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 bracket (427). The bobbin (422) is bolted to the top of the lower rocker arm (431). The motor (425) is located below the shock absorber (421) and is fixed between the two upper rocker arms (428) via a motor mounting bracket (426). The ESC (423) is installed between the shock absorber (421) and the motor (425) via an ESC mounting 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 base (426) by fastening bolts (434). At the same time, 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 base (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). The omnidirectional wheel (41) includes an outer wheel (411) and an inner wheel (412). The outer wheel (411) and the inner wheel (412) are provided with inner and outer wheel pads (413) at their centers, and the three are arranged in sequence and fixed to the omnidirectional wheel coupling (415) by bolts. The inner side of the omnidirectional wheel coupling (415) is provided with a wheel set pad (416) and a wheel set thrust ball bearing (417) in sequence, and is fixed to the output shaft of the motor (425) by an outer pressure cover (414). 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). The industrial camera (10) is mounted on the front end of the positioning frame via a camera mounting plate (101) and is located above the firing barrel (12) of the firing mechanism (1). A camera cover plate (102) is provided on the top of the industrial camera (10). 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 its bottom is fixed to the right side of the gimbal frame (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 fastener (53) and an acrylic hemispherical fastener plate (52) and then fixedly connected to the radar mounting plate (51) by an aluminum column. The radar bracket (55) is equipped with a light bar (201) for the competition and an image transmission module (202) on its top and side, respectively.

2. The sentry robot with independent suspension omnidirectional wheels and semi-under-mounted ammunition feeding based on RoboMaster competition as described in claim 1, characterized in that: The launching mechanism (1) is rotatably connected to the gimbal frame (3) through the 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 the pitch inner clamping plate (62) and the 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. It also includes a connecting rod bearing (65), a short connecting rod (66), a long connecting rod (67), and a pitch motor (69). The pitch motor (69) is fixed on the base plate of the gimbal frame (3). The output end of the pitch motor (69) is connected to one end of the short connecting rod (66) through a transmission component (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 it through a connecting rod bearing (65). The upper connecting rod (61) is connected to the gimbal frame (3) through a bearing retainer (64-1). The pitch flange bearing (64) at the top of the other side plate of the platform (3) is positioned. 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. The pitch motor (69) starts and drives the connecting rod transmission pair to move through the transmission component (68). The connecting rod transmission pair drives the launch mechanism base plate (14) and the launch mechanism (1) above it to rotate around the axis of the two pitch flange bearings (64) through the pitch flange bearing (64).

3. The sentry robot with independent suspension omnidirectional wheels and semi-under-mounted ammunition feeding based on RoboMaster competition as described in claim 1, characterized in that: The yaw mounting plate (74) is bolted to the chassis base plate (303) of the chassis assembly (4); the inner pad of the clamping fastener (72) is fixedly connected to the lower end of the mosquito coil plate (73) and the gimbal frame (3), the outer pad of the clamping fastener (72) is fixedly connected to the upper chassis plate (306) above the chassis frame (30), and the yaw shaft bearing (71) is embedded in the clamping fastener (72).

4. The sentry robot with independent suspension omnidirectional wheels and semi-under-mounted ammunition feeding based on RoboMaster competition as described in claim 1, characterized in that: The outer wheel (411) and inner wheel (412) are arranged side by side, each including two outer wheel plates (401), one wheel clamping plate (403) and multiple rollers (402) on the outer periphery. The wheel clamping plate (403) is located in the middle of the two outer wheel plates (401). The multiple rollers (402) distributed in a circle are matched with the wheel clamping plate (403) at both ends and are limited by the outer wheel plates (401). The three are closely attached to each other and fastened together by multiple bolts. The two sets of rollers (402) on the outer wheel (411) and the inner wheel (412) are staggered.

Images