Three-gun-barrel launching robot

Abstract

The invention relates to the technical field of robots, and discloses a three-gun-barrel launching robot which comprises a supporting frame, a launching mechanism is arranged on the upper portion of the supporting frame and comprises a supporting plate, a first launching tube and two second launching tubes, and the rear end of the first launching tube is connected with a first launching integrator; the rear ends of the second launching tubes are connected with a second launching integrator, and the two second launching tubes and the first launching tube are distributed on the upper side and the lower side of the supporting plate in an inverted-delta-shaped structure, so that the structure among the three launching tubes is compact, and a plurality of launched projectiles can accurately hit a target at the same time; two transverse friction wheels are mounted on the left side and the right side of the first launching integrator, two vertical friction wheels are mounted on the upper side and the lower side of the second launching integrator, the space structure is more reasonable and compact, and the problems that an existing launcher is too large in size, unstable in gravity center and the like can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a three-barrel firing robot. Background Art

[0002] In recent years, infantry robots have been widely used in Robomaster competitions and have become the main firepower output platform. Currently, most common infantry robots have single-gun or dual-gun launch mechanisms. Traditional dual-gun launch mechanisms use friction wheels placed side by side, which makes the entire launch mechanism too large and the weight dispersed, affecting the stability of the center of gravity. At the same time, due to the large center distance between the barrels, it is difficult for the fired projectiles to accurately hit the target armor plate at the same time, and the actual effect is not much different from that of single-barrel infantry robots.

[0003] In order to adapt to the special position of the double barrels, the projectile launch integrator and bullet tray of some existing double-gun launch mechanisms are complexly designed, resulting in poor overall stability, difficulty in installation and maintenance, and easy failure during operation. In addition, the rotating gimbal and gimbal support frame of some current double-gun launch mechanisms are directly driven by a single motor. However, due to the large overall weight of the launch mechanism and the limited output torque of the motor, it is easy to cause the gimbal to rotate poorly or even overload and burn out the motor.

[0004] Therefore, the present invention proposes a three-barrel firing robot to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a three-barrel launching robot. The first launching tube and the second launching tube are distributed in an inverted T-shaped structure, and the horizontal friction wheels are arranged on the left and right sides of the rear end of the first launching tube, and the vertical friction wheels are arranged on the upper and lower sides of the rear end of the second launching tube to form a more reasonable arrangement structure, so as to solve the existing problems of excessive volume, unstable center of gravity, etc.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a three-barrel firing robot, including a support frame, a firing mechanism capable of rotating relative to the support frame is arranged on the upper part of the support frame, a rotating pan-tilt platform for driving the support frame to rotate is arranged below the support frame, and the rotation axes of the support frame and the firing mechanism are perpendicular to each other; the firing mechanism includes a support plate, a first firing tube and two second firing tubes, the support plate is connected to the support frame, and the two second firing tubes and the first firing tube are distributed on the upper and lower sides of the support plate in an inverted T-shaped structure; the rear end of the first firing tube is connected to the first firing integrated device, and the rear end of the second firing tube is connected to the second firing integrated device, and a storage magazine for providing projectiles to the first firing integrated device and the second firing integrated device is installed on the support plate; wherein, two horizontal friction wheels are relatively installed on the left and right sides of the first firing integrated device, and two vertical friction wheels are relatively installed on the upper and lower sides of the second firing integrated device.

[0007] Optionally, the axis of the transverse friction wheel is perpendicular to the support plate, and the axis of the vertical friction wheel is parallel to the support plate.

[0008] Optionally, the support frame includes a base plate, and longitudinal plates are fixedly connected to the left and right sides of the base plate. The base plate and the longitudinal plates are perpendicular to each other, and the base plate is connected to the output end of the rotating gimbal, and the longitudinal plates are rotatably connected to the support plates.

[0009] Optionally, a first motor is installed on the upper part of the two longitudinal plates, an output end of the first motor is connected to the support plate, and the support plate is located between the two longitudinal plates.

[0010] Optionally, the rotating gimbal includes a fixed seat and a base, the fixed seat is provided with a bearing, the base is located below the fixed seat, and a second motor is provided on the base, and an output end of the second motor passes through the bearing and is connected to the base plate.

[0011] Optionally, a positioning module is provided on one side of the support plate, and the positioning module is connected to the support frame.

[0012] Optionally, a camera for monitoring and aiming is also installed on the support plate, and the camera is located above the second launching tube.

[0013] Optionally, the ammunition storage magazine includes a covering frame installed on the support plate, and a funnel component corresponding to the number of the first launch tubes and the second launch tubes is provided on the inner side of the covering frame, and the first launch integrator and the second launch integrator are both connected to the corresponding output end of the funnel component through an ammunition feed tube.

[0014] Optionally, a dial for moving the projectiles is rotatably mounted on the inner side of the funnel component.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) In the present invention, the second launch tube and the first launch tube are arranged on the upper and lower sides of the support plate in an inverted T-shaped structure. The structure between the three launch tubes is compact, and multiple projectiles launched can accurately hit the target at the same time; and the horizontal friction wheels are arranged on the left and right sides of the rear end of the first launch tube, and the vertical friction wheels are arranged on the upper and lower sides of the rear end of the second launch tube. The spatial structure is more reasonable and compact, which can solve the problems of excessive volume and unstable center of gravity in the existing system. (2) In the present invention, the first launch tube and the two second launch tubes can launch three projectiles at the same time. Compared with the existing single-tube or double-tube launch mechanism, the launch density is stronger, and the spatial arrangement structure of the three-barrel launch mechanism is more compact and reasonable, and the stability is stronger; (3) In the present invention, compared with the problems of being bulky, having a center of gravity that is too dispersed, or being too high and unstable when placed side by side or in a positive T shape, the three launch tubes are arranged in an inverted T shape, and the lower friction wheel is placed horizontally and the upper friction wheel is placed vertically. Under the condition of simultaneous firing, the volume of the three-barrel launch mechanism can be reduced, and the center of gravity concentration and stability of the three-barrel structure can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of a three-barrel firing robot according to an embodiment of the present invention; Figure 2 1 is a schematic diagram of the rear axonometric structure of a three-barrel firing robot according to an embodiment of the present invention; Figure 3 is a schematic structural diagram of a rotating pan head in an embodiment of the present invention; Figure 4 is a schematic structural diagram of a launching mechanism in an embodiment of the present invention; Figure 5 is a schematic diagram of the position structure of the first and second transmitting tubes in an embodiment of the present invention; Figure 6 is a schematic structural diagram of a support frame in an embodiment of the present invention; Figure 7 1 is a schematic diagram of the side view structure of the ammunition storage bin in an embodiment of the present invention; Figure 8 1 is a schematic diagram of the top view of the ammunition storage bin in an embodiment of the present invention; Among them, 1, support frame; 101, bottom plate; 102, longitudinal plate; 103, first motor; 104, positioning module; 2. Rotating pan-tilt head; 201. Second motor; 202. Base; 203. Fixed seat; 204. Bearing; 3. Launching mechanism; 301. Support plate; 302. First launching tube; 303. Second launching tube; 304. Horizontal friction wheel; 305. Vertical friction wheel; 306. Support block; 307. First launching integrated device; 4. Ammunition storage magazine; 401. Covering frame; 402. Funnel component; 403. Dial; 404. Ammunition feed tube; 405. Third motor; 406. Servo; 5. Decision-making platform; 6. Camera. DETAILED DESCRIPTION

[0017] The present invention will now be further described in detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention. Embodiment 1

[0018] like Figure 1 and Figure 2 As shown, a three-barrel shooting robot comprises a support frame 1, a rotating platform 2, a launching mechanism 3 and a magazine 4. The rotating platform 2 is arranged at the bottom of the support frame 1, and can drive the support frame 1 to rotate around the Z-axis direction. The launching mechanism 3 and the magazine 4 are installed on the support frame 1 and can rotate around the X-axis direction. The launching mechanism 3 has three barrels, which can not only launch three projectiles at the same time, but also the structure between the three barrels is compact, which can ensure that the target is hit at the same time.

[0019] Specifically, the rotating gimbal 2 drives the support frame 1 to rotate around the Z axis, and the launching mechanism 3 can rotate around the X axis relative to the support frame 1. That is, under the joint action of the rotating gimbal 2 and the support frame 1, the launching mechanism 3 with three barrels can rotate around the Z axis and the X axis, thereby achieving a larger range of firepower coverage.

[0020] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the launching mechanism 3 includes a support plate 301, a first launching tube 302 and a second launching tube 303. One first launching tube 302 is provided, and two second launching tubes 303 are provided. The two second launching tubes 303 and one first launching tube 302 are distributed on the upper and lower sides of the support plate 301 in an inverted T-shaped structure, and the support plate 301 is connected to the support frame 1.

[0021] Here, the launching mechanism 3 is a three-barrel structure. The first launching tube 302 and the two second launching tubes 303 can launch three projectiles at the same time. Compared with the existing single-barrel or double-barrel launching structure, its launching density is stronger, and the spatial arrangement structure of the three-barrel launching mechanism 3 is more compact and reasonable, and has stronger stability.

[0022] The first launch integrator 307 is connected to the rear end of the first launch tube 302, and two horizontal friction wheels 304 are installed on the left and right sides of the first launch integrator 307, and the axis of the horizontal friction wheel 304 is perpendicular to the support plate 301; the second launch tube 303 is connected to the rear end of the second launch integrator, and two vertical friction wheels 305 are installed on the upper and lower sides of the second launch integrator, and the axis of the vertical friction wheel 305 is parallel to the support plate 301.

[0023] The second launch tube 303 and the first launch tube 302 are distributed on the upper and lower sides of the support plate 301 in an inverted T-shaped structure. The structure between the three launch tubes is compact, and the three projectiles launched can accurately hit the target at the same time; and the horizontal friction wheel 304 is arranged on the left and right sides of the first launch integrator 307, and the vertical friction wheel 305 is arranged on the upper and lower sides of the second launch integrator, and the slots are arranged correspondingly, so that the spatial structure of the launch mechanism 3 is more reasonable and compact, which can solve the existing problems of excessive volume and unstable center of gravity.

[0024] Among them, a launching integrator is fixedly connected to the rear end of each gun barrel. The function of the launching integrator is to accurately position and transport the projectile. Slots are provided on its two opposite side walls, and the outer circumferential surface of the friction wheel extends through the slot to the inside to contact the projectile; each pair of friction wheels is driven by a motor to rotate relatively synchronously. When the friction wheel rotates, its outer circumferential surface contacts the projectile, and the projectile can be transported along the internal channel of the launching integrator to the corresponding gun barrel, and finally fired along the gun barrel.

[0025] If the three barrels are placed side by side or in a T-shape, it is easy to cause the entire three-barrel launch structure to be bulky, the center of gravity is too dispersed or too high and unstable, and other problems. Therefore, the three barrels of the launch mechanism 3 are arranged in an inverted T-shape, and the upper friction wheels are placed vertically and staggered to maintain a safe space, and the lower friction wheels are placed horizontally. While ensuring that they do not affect normal operation, the size and weight of the entire mechanism are reduced, the center of gravity stability and the mechanism rigidity are improved, that is, the volume of the three-barrel launch structure can be reduced while meeting the requirements of simultaneous firing, and the center of gravity concentration and stability of the three-barrel structure are improved.

[0026] Furthermore, a support block 306 is fixedly mounted on the support plate 301, and the vertical friction wheel 305 is rotatably mounted on the support block 306. The support block 306 can prevent the projectiles from influencing each other between the vertical friction wheels 305, and can enhance the strength and rigidity of the mechanism while protecting the vertical friction wheels 305.

[0027] In order to provide fluorescent charging for the projectile in a low-light environment, fluorescent charging devices are set on both sides of the launch integrator to improve the shooting visualization effect; at the same time, a projectile paddle is installed at the bottom of the launch integrator to ensure the precise positioning and transportation of the projectile before entering the launch tube.

[0028] In addition, the support plate 301 is also provided with a decision platform 5 and a camera 6. The decision platform 5 is used to realize the robot's autonomous target identification, aiming and launch control, and includes components such as an image transmission module, a control board, a speed measurement module and a protective plate. The control board integrates a main control module, which is responsible for processing sensor data and control signals. The debugging port of the main control module is exposed. The image transmission module is located above the control board to realize image transmission and target positioning functions. The camera 6 and the image transmission module are installed above the three-barrel launch mechanism 3, which can realize image transmission and real-time information transmission, so that the decision platform 5 can quickly make the best judgment. The speed measurement module is used to monitor the movement state of the mechanism.

[0029] Among them, the decision platform 5 is located in front of the ammunition storage compartment 4, and the camera 6 is located above the second launch tube 303 for real-time monitoring and aiming.

[0030] like Figure 1 , Figure 2 and Figure 6 As shown, the support frame 1 includes a base plate 101, and longitudinal plates 102 are fixedly connected to the left and right sides of the base plate 101. The base plate 101 and the longitudinal plates 102 are perpendicular to each other, and the base plate 101 is connected to the output end of the rotating pan head 2, and the longitudinal plates 102 are rotatably connected to the support plate 301.

[0031] The support frame 1 is in a U-shaped structure as a whole. The first motor 103 is installed on the upper part of the two longitudinal plates 102 . The output end of the first motor 103 is connected to the support plate 301 , and the support plate 301 is located between the two longitudinal plates 102 .

[0032] The rotating gimbal 2 drives the base plate 101 of the support frame 1 to rotate around the Z axis, and the base plate 101 drives the longitudinal plate 102 to move synchronously, while the first motors 103 on both sides are used to drive the launching mechanism 3 to rotate around the X axis relative to the support frame 1, thereby realizing the rotation of the launching mechanism 3 around the Z axis and the pitch adjustment around the X axis.

[0033] The dual-motor drive design is used here to effectively improve the reliability and torque output of the launch mechanism 3 rotating around the X-axis, ensuring that the robot has stronger firepower output and stability in competitions.

[0034] Furthermore, a positioning module 104 is disposed on one side of the support plate 301 , and the positioning module 104 is connected to the support frame 1 , that is, when the launch mechanism 3 is adjusted in pitch, the positioning module 104 keeps synchronous movement relative to the support frame 1 .

[0035] The positioning module 104 here uses an existing position sensor to detect the position of the robot in real time, so that the decision platform 5 can adjust the position of the launching mechanism 3 or the robot according to the actual situation.

[0036] like Figure 1 , Figure 2 and Figure 3 As shown, the rotating pan head 2 includes a fixed seat 203 and a base 202, a bearing 204 is installed on the fixed seat 203, the base 202 is located below the fixed seat 203, and a second motor 201 is installed on the base 202, and the output end of the second motor 201 passes through the bearing 204 and is connected to the bottom plate 101.

[0037] The bearing 204 is installed in the fixing seat 203 , and the output end of the second motor 201 is connected to the bottom plate 101 . With the support of the base 202 and the fixing seat 203 , the second motor 201 can drive the support frame 1 to rotate around the Z axis.

[0038] Among them, the bearing 204 can adopt a cross roller bearing 204, which can rotate stably with high precision and bear multi-directional loads, and can enable the base plate 101 to rotate relative to the fixed seat 203, thereby achieving the purpose of rotating the entire launching mechanism 3 around the Z axis while ensuring the rotation accuracy.

[0039] With the cooperation between the support frame 1 and the rotating gimbal 2, dual-axis control of the three-tube launching mechanism 3 can be achieved, ensuring the robot's target locking and precise launching in complex environments.

[0040] like Figure 1 , Figure 2 , Figure 5 , Figure 7 and Figure 8 As shown, a bullet storage magazine 4 for providing projectiles to the first launching integrator 307 and the second launching integrator is installed on the supporting plate 301 , and the bullet storage magazine 4 is close to the rear end of the supporting plate 301 .

[0041] The magazine 4 is a frame structure with an opening facing upward, which is responsible for storing and transporting projectiles, and includes a covering frame 401, a funnel component 402, a dial 403, a bullet feeding tube 404 and a third motor 405. The covering frame 401 is installed on the support plate 301, the funnel component 402 is located on the inner side of the covering frame 401, the dial 403 is rotatably installed on the inner side of the funnel component 402, and is driven to rotate by the third motor 405, and the first launch integrator 307 and the second launch integrator are both connected to the output end of the corresponding funnel component 402 through the bullet feeding tube 404.

[0042] The number of the funnel components 402 corresponds to the number of the first launch tubes 302 and the second launch tubes 303, that is, each gun barrel is equipped with a corresponding funnel component 402; and the inner side surfaces of the covering frame 401 and the funnel component 402 are both designed with curved surfaces to ensure rapid gathering and transportation of the projectiles.

[0043] The dial 403 adopts an octagonal design and is connected to the output end of the third motor 405 , and the third motor 405 is installed on a support, with a simple structure and high stability.

[0044] Specifically, each dial 403 in the funnel component 402 is provided with two layers. After the projectile passes through the two layers of dials 403 through the funnel component 402, it is orderly introduced into the bullet feed tube 404, transported to the launch integrator, and driven by the friction wheel for launch; the two layers of dials 403 effectively improve the efficiency and stability of projectile selection and prevent the blockage and accumulation of projectiles.

[0045] In order to improve the utilization rate of the projectiles, the covering frame 401 is fixedly connected to the funnel component 402, and the magazine plate in the funnel component 402 has a certain slope, which can improve the utilization rate of the projectiles.

[0046] Furthermore, the covering frame 401 includes side covering plates fixedly mounted on the support plate 301, and the side covering plates are connected end to end in sequence to form a frame for storing projectiles, a cover plate is installed on the top of the frame, and a servo 406 for opening and closing the cover plate is installed on the outside of the frame.

[0047] The servo 406 here is installed on the outside of the side cover plate, and its output end is fixedly connected to the cover plate. When the output end of the servo 406 rotates, it can drive the cover plate to rotate in the horizontal plane around the axis of the servo 406, thereby realizing the opening and closing of the cover plate, and at the same time realizing the opening and closing of the frame, so as to fill the projectile into the frame. Embodiment 2

[0048] On the basis of the first embodiment, the present invention further proposes a method for using a three-barrel firing robot, comprising the following steps: S1, loading projectiles into the ammunition storage chamber 4; S2. Start the robot and set relevant parameters; S3, locate and track the target; S4. After confirming the target, select the launch mode and issue the launch command.

[0049] In step S1 , the covering frame 401 of the magazine 4 is opened by the steering gear 406 , and the required pellets are added thereto. The pellets enter the funnel component 402 under the action of gravity, and then the covering frame 401 is also closed by the steering gear 406 .

[0050] In step S2, the robot is powered on and the robot is waiting for the robot to complete the self-check and initialization procedures. During this process, the robot will perform a series of system checks and calibrations, such as sensor detection, barrel angle calibration, etc.; according to specific task requirements, the robot's relevant parameters, such as firing mode, firing rate, shooting angle, target positioning, etc., are set.

[0051] In step S3, the decision platform 5 is used to realize the robot's autonomous target identification, aiming and launch control, the main control module is responsible for processing sensor data and control signals, and the image transmission module can realize image transmission and target positioning functions. The camera 6 cooperates with the image transmission module to realize image transmission and real-time information transmission, so that the decision platform 5 can quickly make the best judgment.

[0052] The robot scans the surrounding environment through sensors to identify the target object. The robot automatically adjusts the position and posture of the launch mechanism 3 to aim the barrel at the target and tracks the movement of the target in real time to ensure that the target can be accurately hit when launching.

[0053] In step S4, according to the characteristics of the target and the task requirements, a suitable launch mode is selected, such as single shot, continuous shot, point shot, scattered shot or salvo shot, etc. After confirmation, the decision platform 5 controls the launch mechanism 3 to launch the projectile.

[0054] During the shooting process, the shooting effect can be observed in real time through the camera 6 and sensors, including the flight trajectory of the ammunition, the hit situation, the target's reaction, etc. If the shooting effect is found to be unsatisfactory, such as low hit rate, ammunition deviating from the target, etc., the cause needs to be analyzed and adjusted in time.

[0055] When the shooting task is completed or the shooting needs to be suspended, the decision platform 5 can promptly send a command to stop shooting to the robot and shut down the launching mechanism 3 to avoid unnecessary consumption of projectiles and potential safety hazards.

[0056] Working principle of launching mechanism 3: Driven by the third motor 405, the dial 403 rotates, and the projectile in the funnel component 402 passes through its output end and enters the launch integrated device along the bullet feeding tube 404. The positioning is completed by the paddle, and a pair of friction wheels apply kinetic energy to the projectile at the corresponding position, rubbing it into the launch tube. The projectile absorbs kinetic energy and then shoots out along the launch tube. The launch mechanism 3 has three barrels, which can not only realize single shot, continuous shot and burst shot, but also scatter shot and three-barrel salvo shot.

[0057] In summary, the present invention proposes a three-barrel launching robot to achieve efficient and stable projectile launching and autonomous target identification. The three-dimensional design of the three-barrel launching mechanism 3 improves the launching efficiency and shooting density. An arc-surface funnel component 402 and an octopus dial 403 are arranged in the magazine 4 to ensure the rapid gathering and stable delivery of the projectiles. The overall design is compact and the structure is optimized, which improves the robot's combat capability and operational stability in complex environments.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0059] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0060] The above is based on the ideal embodiment of the present invention. Through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A three-barrel firing robot, characterized in that: It comprises a support frame (1), wherein a launching mechanism (3) capable of rotating relative to the support frame (1) is arranged on the upper part of the support frame (1), and a rotating platform (2) for driving the support frame (1) to rotate is arranged below the support frame (1), and the rotation axes of the support frame (1) and the launching mechanism (3) are perpendicular to each other; The launching mechanism (3) comprises a support plate (301), a first launching tube (302) and two second launching tubes (303); the support plate (301) is connected to the support frame (1); the two second launching tubes (303) and the first launching tube (302) are distributed on the upper and lower sides of the support plate (301) in an inverted T-shaped structure; The rear end of the first launch tube (302) is connected to a first launch integrated device (307), the rear end of the second launch tube (303) is connected to a second launch integrated device, and a bullet storage magazine (4) for supplying bullets to the first launch integrated device (307) and the second launch integrated device is installed on the support plate (301); Wherein, two horizontal friction wheels (304) are installed oppositely on the left and right sides of the first launch integrator (307), and two vertical friction wheels (305) are installed oppositely on the upper and lower sides of the second launch integrator.

2. The three-barrel firing robot according to claim 1, characterized in that: The axis of the horizontally placed friction wheel (304) is perpendicular to the support plate (301), and the axis of the vertically placed friction wheel (305) is parallel to the support plate (301).

3. The three-barrel firing robot according to claim 1, characterized in that: The support frame (1) comprises a bottom plate (101), and longitudinal plates (102) are fixedly connected to the left and right sides of the bottom plate (101), the bottom plate (101) and the longitudinal plates (102) are perpendicular to each other, and the bottom plate (101) is connected to the output end of the rotating pan-tilt platform (2), and the longitudinal plates (102) are rotatably connected to the support plate (301).

4. The three-barrel firing robot according to claim 3, characterized in that: A first motor (103) is installed on the upper parts of the two longitudinal plates (102); an output end of the first motor (103) is connected to the support plate (301), and the support plate (301) is located between the two longitudinal plates (102).

5. The three-barrel firing robot according to claim 4, characterized in that: The rotating pan head (2) comprises a fixed seat (203) and a base (202); a bearing (204) is mounted on the fixed seat (203); the base (202) is located below the fixed seat (203); a second motor (201) is mounted on the base (202); an output end of the second motor (201) passes through the bearing (204) and is connected to the bottom plate (101).

6. The three-barrel firing robot according to claim 4, characterized in that: A positioning module (104) is provided on one side of the support plate (301), and the positioning module (104) is connected to the support frame (1).

7. The three-barrel firing robot according to claim 1, characterized in that: A camera (6) for monitoring and aiming is also installed on the support plate (301), and the camera (6) is located above the second launching tube (303).

8. The three-barrel firing robot according to claim 1, characterized in that: The ammunition storage magazine (4) comprises a covering frame (401) mounted on the support plate (301), and a number of funnel components (402) corresponding to the number of the first launch tubes (302) and the second launch tubes (303) are arranged on the inner side of the covering frame (401), and the first launch integrated unit (307) and the second launch integrated unit are both connected to the output ends of the corresponding funnel components (402) via an ammunition transport tube (404).

9. The three-barrel firing robot according to claim 8, characterized in that: A dial (403) for moving the projectiles is rotatably mounted on the inner side of the funnel component (402).

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