A robot

Abstract

The application relates to the technical field of robots, and provides a robot which comprises a chassis structure, a large holder, a large Picth shaft motor, a three-friction-wheel launching mechanism and a control system, the control system is electrically connected with the chassis structure, the large holder, the large Picth shaft motor and the three-friction-wheel launching mechanism respectively; the large holder is rotationally fixed at the top of the chassis structure through a yaw shaft transmission structure, the three-friction-wheel launching mechanism is rotationally arranged at the front end of the large holder, the large Picth shaft motor is arranged at the rear end of the large holder, a small Picth shaft image transmission mechanism for sling shooting is arranged above the large holder, a bullet ejecting mechanism and a bullet storage cabin are arranged in the chassis structure, and the bullet storage cabin is in communication with the three-friction-wheel launching mechanism through the bullet ejecting mechanism and the yaw shaft transmission structure in sequence.The scheme realizes the restriction of the up-down and left-right freedom degrees of the bullet, improves the volume of the bullet magazine, and further enhances the accuracy and the control freedom degree of the system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot. BACKGROUND

[0002] The traditional launching mode of the robot is two friction wheels launching, and the projectile is launched by the friction wheel extrusion, but due to the assembly and machining precision, it cannot be guaranteed that the two friction wheels can be contacted at the same time, and the uncontrollable left and right rotation will occur, which will cause the projectile to appear unpredictable deflection. Moreover, on the one hand, the demand for sling launching of the robot is greatly increased, and on the other hand, the upper ammunition feeding mode has limited ability to increase the capacity of the ammunition box, and the lower ammunition feeding mode can utilize the gravity of the ammunition to make the ammunition feeding process relatively stable, and it is easier to realize a compact structure and save space, but it also needs to consider ensuring the independent rotation of the gimbal is not affected by the chassis structure. SUMMARY

[0003] In order to solve the problems in the background art, the present application provides a robot, which simultaneously realizes the restriction of the up-down and left-right degrees of freedom of the projectile, and improves the capacity of the ammunition box, even in the lower ammunition feeding design, the gimbal and the chassis structure are still separated, ensuring the independent rotation of the gimbal is not affected by the chassis structure, further enhancing the accuracy and control freedom of the system.

[0004] In order to achieve the above purpose, the present application adopts the following scheme: a robot, comprising a chassis structure, a large gimbal, a large Picth shaft motor, a three-friction-wheel launching mechanism and a control system, the control system is electrically connected with the chassis structure, the large gimbal, the large Picth shaft motor and the three-friction-wheel launching mechanism respectively; the large gimbal is rotatably fixed on the top of the chassis structure through a yaw shaft transmission structure, the three-friction-wheel launching mechanism is rotatably arranged at the front end of the large gimbal, the large Picth shaft motor is arranged at the rear end of the large gimbal, the large Picth shaft motor drives the three-friction-wheel launching mechanism to rotate through a quadrilateral linkage mechanism, a small Picth shaft image transmission mechanism for sling launching is arranged above the large gimbal, a bullet pushing mechanism and a bullet storage cabin are arranged in the chassis structure, the bullet storage cabin is in communication with the three-friction-wheel launching mechanism through the bullet pushing mechanism and the yaw shaft transmission structure in sequence;

[0005] The three friction wheel launching mechanism comprises a launching barrel, a friction wheel assembly and an upper ammunition belt, the friction wheel assembly comprises a friction wheel support and three friction wheels, the friction wheel support is arranged between the launching barrel and the upper ammunition belt, the friction wheel support is provided with notches around and on the top, the front end notch of the friction wheel support is communicated with the input end of the launching barrel, the rear end notch of the friction wheel support is communicated with the output end of the upper ammunition belt, the three friction wheels are arranged at the left and right side notches and the top notch of the friction wheel support respectively, the side circumferential surfaces of the three friction wheels extend into the notches, the three friction wheels are arranged on the same vertical plane and in an inverted Y shape, and the projectile entering the friction wheel support is launched after passing through the three friction wheels.

[0006] The large gimbal comprises a gimbal rotating frame, a first motor fixing plate and a small gimbal connecting plate, the first motor fixing plate and the small gimbal connecting plate are fixed on the left and right sides of the friction wheel support respectively, the ends of the first motor fixing plate and the small gimbal connecting plate away from the launching barrel are rotatably connected with the gimbal rotating frame respectively, and the bottom of the gimbal rotating frame is rotatably connected with the chassis structure (4) through a yaw shaft transmission structure.

[0007] A limiting assembly is arranged between the upper ammunition belt and the friction wheel support, the limiting assembly comprises a projectile groove plate, a limiting spring and a baffle, one end of the projectile groove plate is hingedly connected with the upper ammunition belt, the other end of the projectile groove plate is hingedly connected with the friction wheel support, one end of the limiting spring is fixed to the bottom of the projectile groove plate, the other end of the limiting spring is fixed to the bottom of the friction wheel support, one end of the baffle is provided with a sliding hole, the sliding hole is slidably connected with the upper ammunition belt through a sliding rod, and the other end of the baffle is hingedly connected with the friction wheel support.

[0008] The large Picth shaft motor is arranged on the same side of the first motor fixing plate, the quadrilateral linkage mechanism comprises a motor connecting plate and a driving rod member forming a parallelogram with the motor connecting plate, one end of the motor connecting plate is connected with the stator of the large Picth shaft motor, the other end of the motor connecting plate is fixedly connected with the first motor fixing plate, the driving rod member comprises a driving short connecting rod and a long connecting rod rotatably connected with the driving short connecting rod, one end of the driving short connecting rod away from the long connecting rod is connected with the rotor of the large Picth shaft motor, and the other end of the long connecting rod away from the driving short connecting rod is rotatably connected with the gimbal rotating frame.

[0009] Further, the upper ammunition belt is fixed in the holder of the cloud platform through a plurality of supporting aluminum columns, the plurality of supporting aluminum columns are arranged at intervals on both sides of the upper ammunition belt, each of the three friction wheels is fixed with the friction wheel support through a friction wheel fixing plate, the friction wheel fixing plate is fixed with a friction wheel motor, the output shaft of the friction wheel motor is connected with the friction wheel; one end of the lower two friction wheel fixing plates is fixed with the bottom of the left and right slots of the friction wheel support, the other end of the lower two friction wheel fixing plates is arranged downwardly; the upper friction wheel fixing plate is fixed on the side wall in the upper part of the friction wheel support.

[0010] Further, the small Picth shaft photo transmission mechanism is rotatably arranged between the small cloud platform connecting plate and the first motor fixing plate, the small Picth shaft photo transmission mechanism is located above the friction wheel support, the small Picth shaft photo transmission mechanism comprises a first motor, a second motor, a magnifying lens, a photo transmission and a magnifying lens fixing plate, the first motor is fixed on the first motor fixing plate, the output shaft of the first motor is rotatably connected with a small cloud platform holder, the photo transmission is arranged on the top of the small cloud platform holder, the side of the small cloud platform holder away from the first motor is rotatably connected with the small cloud platform connecting plate, the second motor is fixed on the bottom of the horizontal plate of the small cloud platform holder, the output shaft of the second motor is connected with the bottom of the magnifying lens fixing plate, and the magnifying lens is fixedly arranged on the top of the magnifying lens fixing plate.

[0011] Further, the yaw shaft transmission structure comprises a third motor, a third motor fixing plate, a driving wheel, a cloud platform fixed connecting piece, a bearing outer side clamping machining piece, an outer side fixed carbon plate and a conductive slip ring, the third motor is installed on the third motor fixing plate, and the output shaft of the third motor is connected with the driving wheel upwardly;

[0012] The conductive slip ring is provided with a slip ring shaft sleeve, the top open end of the slip ring shaft sleeve extends out of the conductive slip ring and is in communication with the input end of the upper ammunition belt, the bottom open end of the slip ring shaft sleeve extends to the bottom of the conductive slip ring, the cloud platform fixed connecting piece, the bearing outer side clamping machining piece and the outer side fixed carbon plate are sequentially sleeved outside the slip ring shaft sleeve from top to bottom, the cloud platform fixed connecting piece is fixedly connected with the slip ring shaft sleeve, a driven wheel is fixed on the outer circumferential side wall of the cloud platform fixed connecting piece, the driven wheel is connected with the driving wheel through a synchronous belt, and the top of the cloud platform fixed connecting piece is connected with the cloud platform holder; the bearing outer side clamping machining piece is rotatably connected with the slip ring shaft sleeve through a cross roller bearing, the bottom of the bearing outer side clamping machining piece is connected with the top of the outer side fixed carbon plate, and the outer side fixed carbon plate is fixed in the bottom disc structure through the aluminum square of the bottom disc structure; the top surface of the bottom disc structure is provided with a maintenance hole, and the driving wheel and the cloud platform fixed connecting piece are arranged in the maintenance hole.

[0013] Further, the bullet dialing mechanism comprises a dialing disc and a lifting plate, the bullet storage cabin is arranged above the dialing disc, the input end of the lifting plate is connected with the dialing disc, and the output end of the lifting plate is communicated with the bottom opening end of the sliding ring sleeve;

[0014] The dialing disc comprises a dialing disc shell, a dialing disc motor and a dialing disc bottom plate, the dialing disc bottom plate is arranged below the dialing disc shell, the dialing disc motor is fixed at the bottom of the dialing disc bottom plate, the output shaft of the dialing disc motor extends into the dialing disc shell through the dialing disc bottom plate, an arc-shaped dialing tooth is sleeved on the output shaft of the dialing disc motor in the dialing disc shell, a boost connecting plate is fixed at the top of the dialing disc shell and close to the output end of the dialing disc, a boost bearing is rotatably connected to the boost connecting plate close to one side in the dialing disc shell, and the rotating surface of the boost bearing is in abutment with the bullet.

[0015] Further, the control system comprises an nuc device control board, a holder device control board and an industrial camera, the nuc device control board is provided with a hollow nuc device cabin, the nuc device cabin is detachably arranged on the large holder opposite to the large Picth shaft motor, the holder device control board is provided with a hollow holder device cabin, the holder device cabin is detachably arranged on the large holder between the large Picth shaft motor and the nuc device cabin, and the industrial camera is arranged above the bottom slot of the friction wheel support and detachably fixed with the first motor fixed plate.

[0016] Further, the chassis structure comprises a chassis aluminum frame, a chassis shell is fixed at the top of the chassis aluminum frame, the bullet storage cabin is arranged at the top of the rear side in the chassis shell, the bullet dialing mechanism is arranged below the bullet storage cabin, the yaw shaft transmission structure is arranged at the middle position in the chassis shell, a Mecanum wheel assembly is arranged at each corner of the chassis aluminum frame, the Mecanum wheel assembly comprises a fourth motor, an inner fixed plate, an outer fixed plate, a shock absorber and a Mecanum wheel, the output shaft of the fourth motor passes through the Mecanum wheel and is fixed with the outer fixed plate through a bearing, the inner fixed plate is fixed with the stator of the fourth motor, the output shaft of the fourth motor is coaxial with and fixedly connected with the Mecanum wheel, the inner fixed plate and the outer fixed plate are arranged opposite to each other at the two sides of the Mecanum wheel, one end of the inner fixed plate away from the Mecanum wheel and one end of the outer fixed plate away from the Mecanum wheel are fixed with the chassis aluminum frame respectively, a bolt support is connected between the inner fixed plate and the outer fixed plate, the bolt support is located at one side of the circumferential side of the Mecanum wheel, and two shock absorbers are arranged.

[0017] The present application has the beneficial effects that: the scheme adopts a three-friction-wheel launching mechanism, uniformly distributes the three friction wheels in a 360-degree range in an inverted "Y" shape, and sets the lower two friction wheels upward relative to the launching barrel, so that the resultant force of the three friction wheels is forward in the horizontal direction, improves the accuracy of the launching direction, and can realize rear rotation by making the rotation speed of the lower two friction wheels higher than that of the upper friction wheel, thereby providing lift while also controlling rotation. The three friction wheels realize the restriction of the up-down and left-right freedom degrees of the projectile, further improving the launching accuracy. The gimbal uses a quadrilateral linkage mechanism to arrange the motor at the rear end, realizes good balance of the front and rear weights, and makes the gimbal more stable and smooth during operation.

[0018] Moreover, the small pitch-axis mechanism is separately installed on a small pitch axis, so that it has independent pitch angle adjustment capability, thereby greatly improving the flexibility and field of view of the visual system, and can easily cope with both close-range observation and long-distance monitoring.

[0019] In addition, the scheme adopts a bottom feeding mode, that is, the bullet feeding mechanism and the bullet storage cabin are ingeniously integrated inside the chassis, greatly improving the volume of the bullet storage cabin, so that it can accommodate up to 50 large projectiles. This layout not only optimizes the space utilization rate, but also significantly reduces the overall gravity center, thereby enhancing the stability of the device during rapid movement or complex operation.

[0020] Furthermore, the bullet storage cabin is in communication with the three-friction-wheel launching mechanism through the bullet feeding mechanism and the yaw-axis transmission structure in turn, the yaw-axis transmission structure not only can drive the large gimbal to rotate, but also realizes stable movement of the projectile from the chassis to the large gimbal at the same time, ensuring that the independent rotation of the large gimbal is not affected by the chassis structure. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0022] Figure 2 It is a schematic diagram of the three-friction-wheel launching mechanism structure of the present application Figure One ;

[0023] Figure 3 It is a schematic diagram of the three-friction-wheel launching mechanism structure of the present application Figure Two ;

[0024] Figure 4 It is a schematic diagram of the yaw-axis transmission structure of the present application;

[0025] Figure 5 It is a schematic diagram of the bullet feeding mechanism of the present application;

[0026] Figure 6 It is a schematic diagram of the chassis structure of the present application;

[0027] Figure 7 Structure diagram of small gimbal of the application.

[0028] Reference numerals in the figure:

[0029] 1. Three-pulley launching mechanism; 11. First motor fixing plate; 12. Large Picth shaft motor; 13. Motor connecting plate; 14. Driving short connecting rod; 15. Long connecting rod; 16. Gimbal rotating frame; 17. Upper ammunition belt; 18. Supporting aluminum column; 19. Friction wheel; 110. Friction wheel fixing plate; 111. Launching gun barrel; 112. Small gimbal connecting plate; 113. Friction wheel support; 114. Projectile slot plate; 115. Limiting spring; 116. Baffle;

[0030] 2. Yaw shaft transmission structure; 21. Gimbal fixed connecting piece; 22. Driven wheel; 23. Bearing outer side clamping machining piece; 24. Crossed roller bearing; 25. Slip ring shaft sleeve; 26. Outer side fixed carbon plate; 27. Conductive slip ring; 28. Driving wheel; 29. Third motor; 210. Third motor fixing plate; 211. Maintenance hole;

[0031] 3. Ammunition pushing mechanism; 31. Lifting plate; 32. Dial plate shell; 33. Dial plate motor; 34. Dial plate bottom plate; 35. Arc-shaped dial gear; 36. Boosting connecting plate; 37. Boosting bearing;

[0032] 4. Chassis structure; 41. Chassis aluminum frame; 42. Chassis shell; 43. Mecanum wheel; 44. Fourth motor; 45. Inner side fixed plate; 46. Outer side fixed plate; 47. Shock absorber; 48. Bolt support;

[0033] 5. Small Picth shaft image transmission mechanism; 51. Image transmission; 52. First motor; 53. Second motor; 54. Zoom fixing plate; 55. Zoom lens; 56. Small gimbal frame;

[0034] 6. Large gimbal;

[0035] 7. Ammunition storage cabin;

[0036] 8. Nuc device cabin;

[0037] 9. Gimbal device cabin;

[0038] 10. Industrial camera. DETAILED DESCRIPTION

[0039] In order to make the application more clear and understandable, the following description, examples and embodiments are given to make optional detailed description of the application. It should be understood that the given examples are only one of the implementation manners, and do not represent all the examples.

[0040] Example one

[0041] In combination Figures 1-7 The embodiment provides a robot, which comprises a chassis structure 4, a large holder 6, a large pitch shaft motor 12, a three-friction-wheel launching mechanism 1 and a control system, the control system is electrically connected with the chassis structure 4, the large holder 6, the large pitch shaft motor 12 and the three-friction-wheel launching mechanism 1 respectively; the large holder 6 is rotatably fixed on the top of the chassis structure 4 through a yaw shaft transmission structure 2, the three-friction-wheel launching mechanism 1 is rotatably arranged at the front end of the large holder 6, the large pitch shaft motor 12 is arranged at the rear end of the large holder 6, the large pitch shaft motor 12 drives the three-friction-wheel launching mechanism 1 to rotate through a quadrilateral linkage mechanism, a small pitch shaft image transmission mechanism 5 for slinging is arranged above the large holder 6, a bullet ejecting mechanism 3 and a bullet storage cabin 7 are arranged in the chassis structure 4, the bullet storage cabin 7 is in communication with the three-friction-wheel launching mechanism 1 through the bullet ejecting mechanism 3 and the yaw shaft transmission structure 2 in sequence. The traditional bullet storage cabin 7 is arranged on the holder, the bullet storage cabin 7 is arranged close to the launching mechanism, so that too many bullets reduce the stability of the launching mechanism, the launching mechanism and the bullet storage cabin 7 are arranged separately in the embodiment, the number of bullets no longer affects the stability of launching, and the bullet supply mode is adopted, that is, the bullet ejecting mechanism 3 and the bullet storage cabin 7 are ingeniously integrated in the chassis structure 4, so that the volume of the bullet storage cabin 7 is greatly improved. The small pitch shaft image transmission mechanism 5 is arranged on the top of the large holder 6 and has a single pitch shaft, so that the small pitch shaft image transmission mechanism 5 has independent pitch angle adjusting capability, thereby the flexibility and the visual field range of the visual system are greatly improved, and the small pitch shaft image transmission mechanism 5 can cope with both close observation and long-distance monitoring. The control system is used for controlling the movement, aiming, launching and information transmission of the robot. The yaw shaft transmission structure 2 can not only drive the large holder 6 to rotate, but also realize the stable movement of the bullets from the chassis to the large holder 6, so that the independent rotation of the large holder 6 is not affected by the chassis structure 4.

[0042] The three-rubbing-wheel launching mechanism 1 comprises a launching barrel 111, a rubbing-wheel assembly and an upper ammunition belt 17, the rubbing-wheel assembly comprises a rubbing-wheel support 113 and three rubbing wheels 19, the rubbing-wheel support 113 is arranged between the launching barrel 111 and the upper ammunition belt 17, the rubbing-wheel support 113 is provided with notches around and on the top, the front-end notch of the rubbing-wheel support 113 is communicated with the input end of the launching barrel 111, the rear-end notch of the rubbing-wheel support 113 is communicated with the output end of the upper ammunition belt 17, the three rubbing wheels 19 are arranged at the notches on the left and right sides and the top of the rubbing-wheel support 113 respectively, the side circumferential surfaces of the three rubbing wheels 19 extend into the notches, the three rubbing wheels 19 are arranged on the same vertical plane and in an inverted Y shape, and the ammunition entering the rubbing-wheel support 113 is launched after passing through the three rubbing wheels 19. The three rubbing wheels 19 are uniformly distributed within a 360-degree range and arranged in an inverted Y shape, and the two rubbing wheels 19 at the lower ends are arranged upwardly and obliquely relative to the rubbing-wheel support 113, so that the resultant force of the three rubbing wheels 19 is along the horizontal direction forwardly, the precision of the launching direction is improved, and the rotation speed of the two rubbing wheels 19 at the lower ends is higher than that of the rubbing wheel 19 at the upper end, so that the rear rotation is realized, the lift is provided, and the rotation is controlled. The three rubbing wheels 19 realize the restriction of the up-down and left-right freedom degrees of the ammunition, and the launching precision is further improved.

[0043] Specifically, the large holder 6 comprises a holder rotating frame 16, a first motor fixing plate 11 and a small holder connecting plate 112, the first motor fixing plate 11 and the small holder connecting plate 112 are fixed on the left and right sides of the rubbing-wheel support 113 respectively, the ends of the first motor fixing plate 11 and the small holder connecting plate 112 away from the launching barrel 111 are rotationally connected with the holder rotating frame 16 respectively, so as to realize the pitching of the three-rubbing-wheel launching mechanism 1, and the bottom of the holder rotating frame 16 is rotationally connected with the chassis structure 4 through a yaw shaft transmission structure 2.

[0044] The upper ammunition belt 17 is fixed in the holder rotating frame 16 through a plurality of supporting aluminum columns 18, the supporting aluminum columns 18 are arranged on the left and right sides of the upper ammunition belt 17 at intervals, the three rubbing wheels 19 are fixed with the rubbing-wheel support 113 through a rubbing-wheel fixing plate 110 respectively, the rubbing-wheel fixing plate 110 is fixed with a rubbing-wheel motor, and the output shaft of the rubbing-wheel motor is connected with the rubbing wheel 19; one end of the two rubbing-wheel fixing plates 110 at the lower end is fixed with the bottom of the notch on the left and right sides of the rubbing-wheel support 113 respectively, the other end of the two rubbing-wheel fixing plates 110 at the lower end is arranged obliquely downwardly; and the rubbing-wheel fixing plate 110 at the upper end is fixed on the sidewall in the upper part of the rubbing-wheel support 113.

[0045] In order for the projectile to be moved from the upper chain 17 to the friction wheel support 113 smoothly, a limiting assembly is arranged between the upper chain 17 and the friction wheel support 113, the limiting assembly comprising a projectile slot plate 114, a limiting spring 115 and a baffle 116, one end of the projectile slot plate 114 being hinged with the upper chain 17, the other end of the projectile slot plate 114 being hinged with the friction wheel support 113, one end of the limiting spring 115 being fixed with the bottom of the projectile slot plate 114, the other end of the limiting spring 115 being fixed at the bottom of the friction wheel support 113, the baffle 116 being arranged above the projectile slot plate 114, one end of the baffle 116 being provided with a sliding hole, the sliding hole being slidably connected with the upper chain 17 through a sliding rod, the other end of the baffle 116 being hinged with the friction wheel support 113. When the projectile passes, it will be subjected to an upward force of the projectile slot plate 114, so that the projectile is tightly attached to the baffle 116 above, thereby improving the stability of the projectile transportation.

[0046] Specifically, the large Picth shaft motor 12 is arranged on the same side of the first motor fixing plate 11, the quadrilateral linkage mechanism comprises a motor connecting plate 13 and a driving rod member forming a parallelogram with the motor connecting plate 13, one end of the motor connecting plate 13 is connected with the stator of the large Picth shaft motor 12, the other end of the motor connecting plate 13 is fixedly connected with the first motor fixing plate 11, the driving rod member comprises a driving short connecting rod 14 and a long connecting rod 15 rotatably connected with the driving short connecting rod 14, one end of the driving short connecting rod 14 away from the long connecting rod 15 is connected with the rotor of the large Picth shaft motor 12, one end of the long connecting rod 15 away from the driving short connecting rod 14 is rotatably connected with the gimbal rotating frame 16. The large gimbal 6 is indirectly connected with the motor by using the quadrilateral linkage mechanism, the motor is arranged at the rear end, the good balance of front and rear weights is realized, the motor response is faster when the gimbal works, and the motor heating is reduced.

[0047] Specifically, the small Picth shaft photo transmission mechanism 5 is arranged between the small cloud platform connecting plate 112 and the first motor fixed plate 11 and is located above the friction wheel support 113. The small Picth shaft photo transmission mechanism 5 comprises a first motor 52, a second motor 53, a magnifying lens 55, a photo transmission 51 and a magnifying lens 55 fixed plate. The first motor 52 is fixed on the first motor fixed plate 11. The output shaft of the first motor 52 is rotatably connected with a small cloud platform support 56. The photo transmission 51 is arranged on the top of the small cloud platform support 56. The side of the small cloud platform support 56 away from the first motor 52 is rotatably connected with the small cloud platform connecting plate 112. The second motor 53 is fixed on the bottom of the horizontal plate of the small cloud platform support 56. The output shaft of the second motor 53 is connected with the bottom of the magnifying lens 55 fixed plate. The magnifying lens 55 is fixedly arranged on the top of the magnifying lens 55 fixed plate. In the competition, the robot needs to shoot the base 20m away. Therefore, the small Picth shaft photo transmission mechanism 5 is arranged on the top of the whole device, which is convenient for observing the base in advance. The front magnifying lens 55 can improve the clarity of the observation of the photo transmission 51. When shooting is needed, the magnifying lens 55 is aligned with the photo transmission 51 by rotating the second motor 53. In this way, the base 20m away can be clearly seen.

[0048] Specifically, the yaw shaft transmission structure 2 includes a third motor 29, a third motor fixing plate 210, a drive wheel 28, a gimbal fixed connecting piece 21, a bearing outer side clamping machining piece 23, an outer side fixed carbon plate 26 and a conductive slip ring 27. The third motor 29 is installed on the third motor fixing plate 210, and the output shaft of the third motor 29 is connected with the drive wheel 28 upward. The conductive slip ring 27 is internally provided with a slip ring shaft sleeve 25, the top open end of the slip ring shaft sleeve 25 extends out of the conductive slip ring 27 and is in communication with the input end of the upper link 17, and the bottom open end of the slip ring shaft sleeve 25 extends to the bottom of the conductive slip ring 27. The gimbal fixed connecting piece 21, the bearing outer side clamping machining piece 23 and the outer side fixed carbon plate 26 are sequentially sleeved outside the slip ring shaft sleeve 25 from top to bottom. The gimbal fixed connecting piece 21 is fixedly connected with the slip ring shaft sleeve 25, a driven wheel 22 is fixed on the outer circumferential side wall of the gimbal fixed connecting piece 21, the driven wheel 22 is connected with the drive wheel 28 through a synchronous belt, and the top of the gimbal fixed connecting piece 21 is connected with the gimbal rotating frame 16. The bearing outer side clamping machining piece 23 is rotationally connected with the slip ring shaft sleeve 25 through a cross roller bearing 24, the bottom of the bearing outer side clamping machining piece 23 is connected with the top of the outer side fixed carbon plate 26, and the outer side fixed carbon plate 26 is fixedly arranged in the bottom disc structure 4 through an aluminum square of the bottom disc structure 4. The top surface of the bottom disc structure 4 is provided with a maintenance hole 211, and the drive wheel 28 and the gimbal fixed connecting piece 21 are arranged in the maintenance hole 211. The yaw shaft transmission structure 2 has two effects. On the one hand, it drives the large gimbal 6 to rotate, and on the other hand, it can serve as a moving path of the projectile. In order to ensure that the independent rotation of the large gimbal 6 is not affected by the bottom disc structure 4, the yaw shaft transmission structure 2 adopts indirect driving, that is, the drive wheel 28 drives the driven wheel 22, and the driven wheel 22 is arranged outside the slip ring shaft sleeve 25, so as not to affect the moving path of the projectile.

[0049] Specifically, the bullet pushing mechanism 3 includes a bullet pushing disc and a lifting plate 31. The bullet storage cabin 7 is arranged directly above the bullet pushing disc. The input end of the lifting plate 31 is connected with the bullet pushing disc, and the output end of the lifting plate 31 is in communication with the bottom open end of the slip ring shaft sleeve 25. The bullet pushing disc includes a disc shell 32, a disc motor 33 and a disc bottom plate 34. The disc bottom plate 34 is arranged below the disc shell 32. The disc motor 33 is fixedly arranged at the bottom of the disc bottom plate 34. The output shaft of the disc motor 33 extends to the disc shell 32 through the disc bottom plate 34. An arc-shaped pushing gear 35 is sleeved on the output shaft of the disc motor 33 in the disc shell 32. A boosting connecting plate 36 is fixedly arranged at the top of the disc shell 32 and close to the output end of the bullet pushing disc. A boosting bearing 37 is rotationally connected with the boosting connecting plate 36 close to one side in the disc shell 32. The rotating surface of the boosting bearing 37 is in contact with the projectile. The arrangement of the bullet storage cabin 7 above the bullet pushing disc greatly improves the volume of the bullet storage cabin 7.

[0050] In operation, first, the dial motor 33 is started, and the output shaft of the dial motor 33 rotates to drive the arc-shaped dial gear 35 to rotate. The bullet falls into the dial plate from the bullet storage cabin 7, and the bullet is inside the arc-shaped groove of the arc-shaped dial gear 35. With the rotation of the arc-shaped dial gear 35, the bullet moves together. During this period, the boost bearing 37 at the output end of the dial plate rolls along the outer end of the bullet. The boost bearing 37 makes the bullet roll more smoothly. After the bullet enters the lifting plate 31, it will be pushed by the subsequent bullet, so that the bullet entering the lifting plate 31 will move to the inside of the bullet chain 17, the sliding ring shaft sleeve 25 and the launch barrel 111 in turn. The output shaft of the three friction wheel motors rotates to drive the three friction wheels 19 to rotate. The three friction wheels 19 form a combined force in the horizontal direction, and the three friction wheels 19 limit the bullet up and down and left and right at the same time, so that the bullet can be stably and accurately ejected from the launch barrel 111.

[0051] Specifically, the control system comprises a nuc device control board, a holder device control board and an industrial camera 10. The nuc device control board is provided with a hollow nuc device cabin 8, which is detachably arranged on the large holder 6 opposite to the large Picth shaft motor 12. The holder device control board is provided with a hollow holder device cabin 9, which is detachably arranged on the large holder 6 between the large Picth shaft motor 12 and the nuc device cabin 8. The industrial camera 10 is located above the bottom slot of the friction wheel support 113 and is detachably fixed with the first motor fixed plate 11.

[0052] Specifically, the chassis structure 4 comprises a chassis aluminum frame 41, a chassis shell 42 is fixed on the top of the chassis aluminum frame 41, the ammunition storage cabin 7 is arranged at the top of the rear side in the chassis shell 42, the ammunition ejecting mechanism 3 is arranged below the ammunition storage cabin 7, the yaw shaft transmission structure 2 is arranged at the middle position in the chassis shell 42, the Mecanum wheel assembly is arranged at each corner of the chassis aluminum frame 41, the Mecanum wheel assembly comprises a fourth motor 44, an inner fixed plate 45, an outer fixed plate 46, a shock absorber 47 and a Mecanum wheel 43, the output shaft of the fourth motor 44 passes through the Mecanum wheel 43 and is fixed with the outer fixed plate 46 through a bearing, the inner fixed plate 45 is fixed with the stator of the fourth motor 44, the output shaft of the fourth motor 44 is coaxial with and fixedly connected with the Mecanum wheel 43, the inner fixed plate 45 and the outer fixed plate 46 are oppositely arranged at the two sides of the Mecanum wheel 43, one end of the inner fixed plate 45 away from the Mecanum wheel 43 and one end of the outer fixed plate 46 away from the Mecanum wheel 43 are respectively fixed with the chassis aluminum frame 41, a bolt support 48 is connected between the inner fixed plate 45 and the outer fixed plate 46, the bolt support 48 is located at one side of the side surface of the Mecanum wheel 43, the shock absorber 47 is provided with two, one end of the two shock absorbers 47 is hingedly connected with the bolt support 48, and the other end of the two shock absorbers 47 is hingedly connected with the chassis aluminum frame 41. The Mecanum wheel 43 can realize omnidirectional movement, has extremely high flexibility and response speed, can be flexibly and maneuverably in various complex environments, and can quickly adjust the direction without steering.

[0053] The specific embodiments of the application are described in detail above with reference to the drawings, but the application is not limited to the described embodiments. For those skilled in the art, various changes, modifications, replacements and variations of the embodiments can be made without departing from the principles and spirits of the application, and still fall within the protection scope of the application.

Claims

1. A robot, characterized in that: The system includes a chassis structure (4), a large gimbal (6), a large Pict-axis motor (12), a three-friction wheel launching mechanism (1), and a control system. The control system is electrically connected to the chassis structure (4), the large gimbal (6), the large Pict-axis motor (12), and the three-friction wheel launching mechanism (1). The large gimbal (6) is rotatably fixed to the top of the chassis structure (4) via a yaw shaft transmission structure (2). The three-friction wheel launching mechanism (1) is rotatably disposed at the front end of the large gimbal (6). The Picth axis motor (12) is located at the rear end of the large gimbal (6). The large Picth axis motor (12) drives the three friction wheel launching mechanism (1) to rotate through the quadrilateral linkage mechanism. A small Picth axis image transmission mechanism (5) for hoisting is provided above the large gimbal (6). The chassis structure (4) is provided with a bullet feeding mechanism (3) and a bullet storage compartment (7). The bullet storage compartment (7) is connected to the three friction wheel launching mechanism (1) in sequence through the bullet feeding mechanism (3) and the yaw axis transmission structure (2). The three-friction wheel launching mechanism (1) includes a launching barrel (111), a friction wheel assembly and an upper ammunition belt (17). The friction wheel assembly includes a friction wheel bracket (113) and friction wheels (19). The friction wheel bracket (113) is located between the launching barrel (111) and the upper ammunition belt (17). The friction wheel bracket (113) has slots on its four sides and top. The front slot of the friction wheel bracket (113) is connected to the input end of the launching barrel (111), and the rear slot of the friction wheel bracket (113) is connected to the output end of the upper ammunition belt (17). There are three friction wheels (19). The three friction wheels (19) are respectively rotatably arranged at the left and right side slots and the top slot of the friction wheel bracket (113). The side circumferential surfaces of the three friction wheels (19) extend into the slots. The three friction wheels are located on the same vertical plane and are arranged in an inverted Y shape. The large gimbal (6) includes a gimbal rotation frame (16), a first motor fixing plate (11), and a small gimbal connecting plate (112). The first motor fixing plate (11) and the small gimbal connecting plate (112) are respectively fixed on the left and right sides of the friction wheel bracket (113). The ends of the first motor fixing plate (11) and the small gimbal connecting plate (112) away from the firing barrel (111) are respectively rotatably connected to the gimbal rotation frame (16). The bottom of the gimbal rotation frame (16) is rotatably connected to the chassis structure (4) through the yaw shaft transmission structure (2). The large Picth axis motor (12) is set on the same side as the first motor fixing plate (11). The quadrilateral linkage mechanism includes a motor connecting plate (13) and a driving rod that forms a parallelogram with the motor connecting plate (13). One end of the motor connecting plate (13) is connected to the stator of the large Picth axis motor (12), and the other end of the motor connecting plate (13) is fixedly connected to the first motor fixing plate (11). The driving rod includes a short driving link (14) and a long link (15) that is rotatably connected to the short driving link (14). The end of the short driving link (14) away from the long link (15) is connected to the rotor of the large Picth axis motor (12), and the end of the long link (15) away from the short driving link (14) is rotatably connected to the gimbal rotating frame (16). The small Picth-axis image transmission mechanism (5) is rotatably disposed between the small gimbal connecting plate (112) and the first motor fixing plate (11). The small Picth-axis image transmission mechanism (5) is located above the friction wheel bracket (113). The small Picth-axis image transmission mechanism (5) includes a first motor (52), a second motor (53), a magnifying lens (55), an image transmission device (51), and a magnifying lens fixing plate (54). The first motor (52) is fixed on the first motor fixing plate (11). The output shaft of the motor (52) is rotatably connected to a small gimbal frame (56). The image transmission (51) is set on the top of the small gimbal frame (56). The side of the small gimbal frame (56) away from the first motor (52) is rotatably connected to the small gimbal connecting plate (112). The second motor (53) is fixed at the bottom of the horizontal plate of the small gimbal frame (56). The output shaft of the second motor (53) is connected to the bottom of the magnification lens fixing plate (54). The magnification lens (55) is fixedly set on the top of the magnification lens fixing plate (54).

2. The robot according to claim 1, characterized in that: The upper spring chain (17) is fixed inside the gimbal rotation frame (16) by multiple supporting aluminum columns (18). The multiple supporting aluminum columns (18) are spaced apart on both sides of the upper spring chain (17). Each of the three friction wheels (19) is fixed to the friction wheel bracket (113) by a friction wheel fixing plate (110). A friction wheel motor is fixed on the friction wheel fixing plate (110), and the output shaft of the friction wheel motor is connected to the friction wheel (19). One end of the two lower friction wheel fixing plates (110) is fixed to the bottom of the left and right slots of the friction wheel bracket (113), respectively. The other end of the two lower friction wheel fixing plates (110) is inclined downward. The upper friction wheel fixing plate (110) is fixed on the inner side wall of the upper part of the friction wheel bracket (113).

3. The robot according to claim 2, characterized in that: A limiting component is provided between the upper spring chain (17) and the friction wheel bracket (113). The limiting component includes a shot groove plate (114), a limiting spring (115), and a baffle (116). One end of the shot groove plate (114) is hinged to the upper spring chain (17), and the other end of the shot groove plate (114) is hinged to the friction wheel bracket (113). One end of the limiting spring (115) is fixed to the bottom of the shot groove plate (114), and the other end of the limiting spring (115) is fixed to the bottom of the friction wheel bracket (113). One end of the baffle (116) is provided with a sliding hole, which is slidably connected to the upper spring chain (17) through a sliding rod. The other end of the baffle (116) is hinged to the friction wheel bracket (113).

4. A robot according to claim 2, characterized in that: The yaw shaft transmission structure (2) includes a third motor (29), a third motor mounting plate (210), a drive wheel (28), a gimbal fixing connector (21), a bearing outer clamping machined part (23), an outer fixing carbon plate (26), and a conductive slip ring (27). The third motor (29) is mounted on the third motor mounting plate (210), and the output axis of the third motor (29) is connected to the drive wheel (28). The conductive slip ring (27) is provided with a slip ring bushing (25). The top open end of the slip ring bushing (25) extends out of the conductive slip ring (27) and communicates with the input end of the upper spring chain (17). The bottom open end of the slip ring bushing (25) extends to the bottom of the conductive slip ring (27). The gimbal fixing connector (21), the bearing outer clamping machined part (23), and the outer fixing carbon plate (26) are sequentially sleeved on the slip ring bushing (25) from top to bottom. The gimbal fixing connector (21) is fixedly connected to the slip ring bushing (25). A driven wheel (22) is fixed on the outer peripheral side wall of the gimbal fixing connector (21). Wheel (22) is connected to drive wheel (28) via synchronous belt, and the top of gimbal fixing connector (21) is connected to gimbal rotating frame (16); the bearing outer clamping machined part (23) is rotatably connected to slip ring bushing (25) via cross roller bearing (24), and the bottom of bearing outer clamping machined part (23) is connected to the top of outer fixed carbon plate (26). The outer fixed carbon plate (26) is fixed in the chassis structure (4) by aluminum square; the top surface of the chassis structure (4) is provided with maintenance hole (211), and the drive wheel (28) and gimbal fixing connector (21) are set in the maintenance hole (211).

5. A robot according to claim 4, characterized in that: The cartridge feeding mechanism (3) includes a cartridge feeding disc and a lifting plate (31). The cartridge storage compartment (7) is located directly above the cartridge feeding disc. The input end of the lifting plate (31) is connected to the cartridge feeding disc, and the output end of the lifting plate (31) is connected to the bottom opening end of the slip ring bushing (25). The paddle disc includes a paddle housing (32), a paddle motor (33), and a paddle base plate (34). The paddle base plate (34) is located below the paddle housing (32). The paddle motor (33) is fixed to the bottom of the paddle base plate (34). The output shaft of the paddle motor (33) extends through the paddle base plate (34) into the paddle housing (32). The output shaft of the paddle motor (33) inside the paddle housing (32) is fitted with arc-shaped paddle teeth (35). A booster connecting plate (36) is fixed at the top of the paddle housing (32) near the output end of the paddle disc. A booster bearing (37) is rotatably connected to the side of the booster connecting plate (36) near the inside of the paddle housing (32). The rotating surface of the booster bearing (37) abuts against the projectile.

6. A robot according to claim 2, characterized in that: The control system includes a NUC device control board, a gimbal device control board, and an industrial camera (10). The NUC device control board is covered with a hollowed-out NUC device compartment (8). The NUC device compartment (8) is detachably mounted on a large gimbal (6) on the side opposite to the large Picth axis motor (12). The gimbal device control board is covered with a hollowed-out gimbal device compartment (9). The gimbal device compartment (9) is detachably mounted on the large gimbal (6) between the large Picth axis motor (12) and the NUC device compartment (8). The industrial camera (10) is located above the bottom slot of the friction wheel bracket (113) and is detachably fixed to the first motor fixing plate (11).

7. A robot according to claim 1, characterized in that: The chassis structure (4) includes a chassis aluminum frame (41), a chassis shell (42) is fixed to the top of the chassis aluminum frame (41), the ammunition storage compartment (7) is located at the top of the rear side inside the chassis shell (42), an ammunition release mechanism (3) is located below the ammunition storage compartment (7), the yaw shaft drive structure (2) is located in the middle position inside the chassis shell (42), and Mecanum wheel assemblies are provided at the four corners of the chassis aluminum frame (41). The Mecanum wheel assembly includes a fourth motor (44), an inner fixing plate (45), an outer fixing plate (46), a shock absorber (47), and a Mecanum wheel (43). The output shaft of the fourth motor (44) passes through the Mecanum wheel (43) and is fixed to the outer fixing plate (46) by bearings. The inner fixing plate (45) is connected to the fourth motor (44). The stator is fixed, the output shaft of the fourth motor (44) is coaxial with and fixedly connected to the Mecanum wheel (43), the inner fixing plate (45) and the outer fixing plate (46) are arranged opposite to each other on both sides of the Mecanum wheel (43), the end of the inner fixing plate (45) away from the Mecanum wheel (43) and the end of the outer fixing plate (46) away from the Mecanum wheel (43) are respectively fixed to the chassis aluminum frame (41), and a bolt support (48) is connected between the inner fixing plate (45) and the outer fixing plate (46). The bolt support (48) is located on one side of the periphery of the Mecanum wheel (43), and there are two shock absorbers (47). One end of the two shock absorbers (47) is hinged to the bolt support (48), and the other end of the two shock absorbers (47) is hinged to the chassis aluminum frame (41).

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