A three-barrel launching robot

Abstract

The present invention relates to the technical field of robots, and discloses a three-barrel launching robot, which includes a support frame. An ejection mechanism is provided on the upper part of the support frame. The ejection mechanism includes a support plate, a first ejection tube, and two second ejection tubes. The rear end of the first ejection tube is connected to a first ejection integrator, and the rear end of the second ejection tube is connected to a second ejection integrator. The two second ejection tubes and the first ejection tube are distributed in an inverted product shape on the upper and lower sides of the support plate, making the structure among the three ejection tubes compact, and multiple projectiles ejected can accurately hit the target simultaneously. Moreover, two horizontally arranged friction wheels are installed on the left and right sides of the first ejection integrator, and two vertically arranged friction wheels are installed on the upper and lower sides of the second ejection integrator, and the spatial structure is more reasonable and compact, which can solve problems such as the existing ones being too large in volume and unstable in center of gravity.

Description

Technical Field

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

[0002] In recent years, infantry robots have been widely used in Robomaster competitions, becoming the primary platform for delivering firepower. Currently, most common infantry robots have single-barrel or dual-barrel firing mechanisms. Traditional dual-barrel firing mechanisms use friction wheels placed side by side, resulting in an excessively large and dispersed firing mechanism, affecting center of gravity stability. Furthermore, the large center-to-center spacing between the barrels makes it difficult for projectiles to accurately and simultaneously strike the target armor plate, resulting in practically no difference from single-barrel infantry robots.

[0003] To accommodate the unique positioning of the dual barrels, some existing dual-gun launchers have complex designs for their projectile launcher hubs and bullet trays. This results in poor overall stability, difficult installation and maintenance, and prone to operational failures. Furthermore, the rotating gimbal and gimbal support frame of some current dual-gun launchers are directly driven by a single motor. However, due to the heavy weight of the launcher, the motor's limited output torque can easily lead to gimbal rotation problems or even motor overload and burnout.

[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 existing technology 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 layout structure, thereby solving the problems of existing problems such as excessive volume and unstable center of gravity.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows: A three-barrel launching robot includes a support frame. An upper part of the support frame is provided with a launching mechanism capable of rotating relative to the support frame. A lower part of the support frame is provided with a rotary pan for driving the support frame to rotate, and the rotation axes of the support frame and the launching mechanism are perpendicular to each other. The launching mechanism includes a support plate, a first launching tube, and two second launching tubes. The support plate is connected to the support frame. The two second launching tubes and the first launching tube are distributed in an inverted product shape structure on the upper and lower sides of the support plate. A rear end of the first launching tube is connected to a first launching integrator, and a rear end of the second launching tube is connected to a second launching integrator. A bullet storage bin for supplying projectiles to the first launching integrator and the second launching integrator is installed on the support plate. Among them, two horizontally arranged friction wheels are relatively installed on left and right sides of the first launching integrator, and two vertically arranged friction wheels are relatively installed on upper and lower sides of the second launching integrator.

[0007] Optionally, an axis of the horizontally arranged friction wheel is perpendicular to the support plate, and an axis of the vertically arranged friction wheel is parallel to the support plate.

[0008] Optionally, the support frame includes a bottom plate. Both left and right sides of the bottom plate are fixedly connected with longitudinal plates. The bottom plate and the longitudinal plates are perpendicular to each other, and the bottom plate is connected to an output end of the rotary pan. The longitudinal plates are rotationally connected to the support plate.

[0009] Optionally, first motors are installed on upper parts of the two longitudinal plates. Output ends of the first motors are connected to the support plate, and the support plate is located between the two longitudinal plates.

[0010] Optionally, the rotary pan includes a fixed seat and a base. A bearing is installed on the fixed seat. The base is located below the fixed seat, and a second motor is installed on the base. An output end of the second motor passes through the bearing and is connected to the bottom 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 bullet storage bin includes a covering frame installed on the support plate. A funnel component corresponding to the number of the first launching tube and the second launching tubes is arranged inside the covering frame, and the first launching integrator and the second launching integrator are both communicated with an output end of the corresponding funnel component through a bullet feeding 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:

[0016] (1) In the present invention, the second launch tube and the first launch tube are arranged in an inverted T-shaped structure on the upper and lower sides of the support plate. 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 existing problems such as excessive volume and unstable center of gravity;

[0017] (2) In the present invention, the first launch tube and the two second launch tubes can simultaneously launch three projectiles. Compared with the existing single-tube or double-tube launch mechanism, the launch density is higher, and the spatial arrangement structure of the three-barrel launch mechanism is more compact and reasonable, and the stability is stronger;

[0018] (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 straight 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. This can reduce the volume of the three-barrel launch mechanism while meeting the requirements of simultaneous firing, and improve the center of gravity concentration and stability of the three-barrel structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 2 is a schematic structural diagram of a three-barrel firing robot according to an embodiment of the present invention;

[0020] 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;

[0021] Figure 3 1 is a schematic structural diagram of a rotating platform according to an embodiment of the present invention;

[0022] Figure 4 is a structural diagram of a launching mechanism in an embodiment of the present invention;

[0023] Figure 5 Schematic diagram of the position structure of the first and second transmitting tubes in an embodiment of the present invention;

[0024] Figure 6 is a schematic structural diagram of a support frame according to an embodiment of the present invention;

[0025] Figure 7 1 is a side structural schematic diagram of a magazine according to an embodiment of the present invention;

[0026] Figure 8It is a schematic top view structure diagram of the ammunition storage bin in the embodiment of the present invention;

[0027] Among them, 1. Support frame; 101. Bottom plate; 102. Vertical plate; 103. First motor; 104. Positioning module;

[0028] 2. Rotating cloud platform; 201. Second motor; 202. Base; 203. Fixed seat; 204. Bearing;

[0029] 3. Launch mechanism; 301. Support plate; 302. First launch tube; 303. Second launch tube; 304. Horizontally placed friction wheel; 305. Vertically placed friction wheel; 306. Support block; 307. First launch integrator;

[0030] 4. Ammunition storage bin; 401. Wrapping frame; 402. Funnel component; 403. Dial; 404. Ammunition feeding pipe; 405. Third motor; 406. Servo; 5. Decision-making platform; 6. Camera. Specific implementation mode

[0031] Now, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner. Therefore, they only show the components related to the present invention. Embodiment 1

[0032] As Figure 1 and Figure 2 shown, a three-barrel launch robot includes a support frame 1, a rotating cloud platform 2, a launch mechanism 3 and an ammunition storage bin 4. The rotating cloud 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 launch mechanism 3 and the ammunition storage bin 4 are installed on the support frame 1 and can rotate around the X-axis direction. Moreover, the launch mechanism 3 has three barrels, which can not only simultaneously launch three projectiles, but also the structure between the three barrels is compact, and can ensure hitting the target simultaneously.

[0033] Specifically, the rotating cloud platform 2 drives the support frame 1 to rotate around the Z-axis, and the launch mechanism 3 can rotate relative to the support frame 1 around the X-axis direction. That is, under the combined action of the rotating cloud platform 2 and the support frame 1, the launch mechanism 3 with three barrels can rotate around the Z-axis and X-axis directions, so as to achieve a large range of fire coverage.

[0034] As Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the launching mechanism 3 includes a support plate 301, a first launching tube 302 and a second launching tube 303. There is one first launching tube 302 and two second launching tubes 303. The two second launching tubes 303 and the one first launching tube 302 are distributed on the upper and lower sides of the support plate 301 in an inverted T-shaped structure. The support plate 301 is connected to the support frame 1.

[0035] The launching mechanism 3 here 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 layout structure of the three-barrel launching mechanism 3 is more compact and reasonable, and more stable.

[0036] The rear end of the first launch tube 302 is connected to the first launch integrator 307, 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 rear end of the second launch tube 303 is connected to 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.

[0037] 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 wheels 304 are arranged on the left and right sides of the first launch integrator 307, and the vertical friction wheels 305 are arranged on the upper and lower sides of the second launch integrator, and their 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.

[0038] Among them, the rear end of each gun barrel is fixedly connected to a launch integrator. The function of the launch integrator is to accurately position and transport the projectile. There are slots 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 launch integrator to the corresponding gun barrel, and finally launched along the gun barrel.

[0039] If the three gun barrels are placed side by side or in a regular triangular pyramid distribution, it is easy to cause problems such as a large volume of the entire three-barrel firing structure, overly dispersed or high and unstable center of gravity. Therefore, the three gun barrels of the firing mechanism 3 are arranged in an inverted triangular pyramid distribution, with the upper friction wheels placed vertically and staggered in position to maintain a safety space, and the lower friction wheels placed horizontally. While ensuring that they do not affect each other's normal operation, the size and weight of the overall mechanism are reduced, and the center of gravity stability and mechanism rigidity are improved, that is, the volume of the three-barrel firing structure can be reduced while meeting simultaneous firing, and the center of gravity concentration and stability of the three-barrel structure are improved.

[0040] Furthermore, a support block 306 is fixedly installed on the support plate 301, and the vertically placed friction wheel 305 is rotatably installed on the support block 306. The support block 306 can prevent the projectiles from affecting each other between the vertically placed friction wheels, and can strengthen the strength and rigidity of the mechanism while protecting the vertically placed friction wheel 305.

[0041] In order to provide fluorescence charging for the projectiles in low-light environments, fluorescence charging devices are arranged on both sides of the firing integrator to improve the shooting visualization effect; at the same time, a projectile pusher is installed at the bottom of the firing integrator to ensure the precise positioning and conveying of the projectiles before they enter the firing tube.

[0042] In addition, a decision-making platform 5 and a camera 6 are also arranged on the support plate 301. The decision-making platform 5 is used to achieve autonomous target recognition, aiming, and firing control of the robot, including components such as an image transmission module, a control board, a speed measurement module, and a protection plate. The main control module is integrated on the control board and is responsible for processing sensor data and control signals. The debugging port of the main control module is exposed, and the image transmission module is located above the control board to achieve image transmission and target positioning functions. The camera 6 and the image transmission module are installed above the three-barrel firing mechanism 3, capable of achieving image transmission and real-time information transmission, facilitating the decision-making platform 5 to quickly make the best judgment, and the speed measurement module is used to monitor the motion state of the mechanism.

[0043] Among them, the decision-making platform 5 is located in front of the ammunition storage bin 4, and the camera 6 is located above the second firing tube 303 for real-time monitoring and aiming.

[0044] As Figure 1 、 Figure 2 and Figure 6 shown, the support frame 1 includes a bottom plate 101. Vertical plates 102 are fixedly connected to both the left and right sides of the bottom plate 101. The bottom plate 101 and the vertical plates 102 are perpendicular to each other, and the bottom plate 101 is connected to the output end of the rotary cloud platform 2, and the vertical plates 102 are rotatably connected to the support plate 301.

[0045] The support frame 1 is integrally in a U-shaped structure. First motors 103 are installed on the upper parts of the two vertical plates 102. The output ends of the first motors 103 are connected to the support plate 301, and the support plate 301 is located between the two vertical plates 102.

[0046] The rotating cloud platform 2 drives the bottom plate 101 of the support frame 1 to rotate around the Z-axis. The bottom plate 101 drives the vertical 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, so as to realize the rotation of the launching mechanism 3 around the Z-axis and the pitching adjustment around the X-axis.

[0047] A dual-motor drive design is adopted here, effectively improving the reliability and torque output of the rotation of the launching mechanism 3 around the X-axis, and ensuring that the robot has stronger firepower output and stability in the competition.

[0048] Furthermore, a positioning module 104 is provided on one side of the support plate 301. The positioning module 104 is connected to the support frame 1, that is, while the launching mechanism 3 is pitching and adjusting, the positioning module 104 moves synchronously relative to the support frame 1.

[0049] The positioning module 104 here adopts an existing position sensor, which can detect the position of the robot in real time, so that the decision-making platform 5 can adjust the position of the launching mechanism 3 or the robot according to the actual situation.

[0050] Such as Figure 1 、 Figure 2 and Figure 3 As shown, the rotating cloud platform 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. The output end of the second motor 201 passes through the bearing 204 and is connected to the bottom plate 101.

[0051] The bearing 204 is installed in the fixed seat 203, and the output end of the second motor 201 is connected to the bottom plate 101. Supported by the base 202 and the fixed seat 203, the support frame 1 can be driven to rotate around the Z-axis by the second motor 201.

[0052] Among them, the bearing 204 can adopt a crossed roller bearing 204. This bearing 204 can rotate stably with high precision, bear multi-directional loads, enable the rotational movement of the bottom plate 101 relative to the fixed seat 203, so as to achieve the purpose of the entire launching mechanism 3 rotating around the Z-axis, and ensure the rotation accuracy at the same time.

[0053] With the mutual cooperation of the support frame 1 and the rotating cloud platform 2, the dual-axis control of the triple-tube launching mechanism 3 can be realized, ensuring the target locking and precise launching of the robot in a complex environment.

[0054] Such as Figure 1 、 Figure 2 、 Figure 5 、 Figure 7 and Figure 8As shown in the figure, a bullet storage bin 4 for supplying bullets to the first emission integrator 307 and the second emission integrator is installed on the support plate 301, and the bullet storage bin 4 is close to the rear end of the support plate 301.

[0055] The bullet storage bin 4 is a frame structure with an upward opening, responsible for storing and conveying bullets, including a covering frame 401, a funnel component 402, a dial 403, a bullet conveying pipe 404, and a third motor 405. The covering frame 401 is installed on the support plate 301. The funnel component 402 is located inside the covering frame 401. The dial 403 is rotatably installed inside the funnel component 402 and is driven to rotate by the third motor 405. Both the first emission integrator 307 and the second emission integrator are connected to the output ends of the corresponding funnel components 402 through the bullet conveying pipes 404.

[0056] The number of the funnel components 402 corresponds to the number of the first emission tubes 302 and the second emission tubes 303, that is, each gun barrel is correspondingly equipped with a funnel component 402. Moreover, the inner side surfaces of the covering frame 401 and the funnel component 402 are both designed with arc surfaces to ensure the rapid convergence and conveying of bullets.

[0057] Among them, the dial 403 adopts an eight-claw design and is connected to the output end of the third motor 405. The third motor 405 is installed on the support, with a simple structure and high stability.

[0058] Specifically, the dials 403 in each funnel component 402 are both provided with two layers. The bullets pass through the two layers of dials 403 through the funnel component 402 and are then orderly introduced into the bullet conveying pipe 404 and conveyed to the emission integrator for being launched by the friction wheel. The two layers of dials 403 effectively improve the bullet dialing efficiency and stability and prevent the bullets from jamming and piling up.

[0059] In order to improve the utilization rate of bullets, the covering frame 401 is fixedly connected to the funnel component 402, and the bullet storage plate in the funnel component 402 has a certain slope, which can improve the utilization rate of bullets.

[0060] Furthermore, the covering frame 401 includes side covering plates fixedly installed on the support plate 301. The side covering plates are sequentially connected end to end to form a frame body for storing bullets. A cover plate is installed on the top of the frame body, and a servo motor 406 for opening and closing the cover plate is installed on the outside of the frame body.

[0061] The servo motor 406 here is installed on the outside of the side covering plate, and its output end is fixedly connected to the cover plate. When the output end of the servo motor 406 rotates, it can drive the cover plate to rotate in the horizontal plane around the axis of the servo motor 406, thereby realizing the opening and closing of the cover plate and simultaneously realizing the opening and closing of the frame body, so as to facilitate filling bullets into the frame body. Embodiment 2

[0062] Based on the first embodiment, the present invention further provides a method for using a three-barrel launching robot, comprising the following steps:

[0063] S1. Load projectiles into the ammunition storage bin 4;

[0064] S2. Start the robot and set relevant parameters;

[0065] S3. Locate and track the target;

[0066] S4. After confirming the target, select a firing mode and issue a firing command.

[0067] In step S1, the servo 406 is used to open the covering frame 401 of the ammunition storage bin 4, add the required projectiles into it, and the projectiles will enter the funnel component 402 under the action of gravity. Then, the covering frame 401 is closed by the servo 406 as well.

[0068] In step S2, turn on the power switch of the robot and wait for the robot to complete the self-check and initialization program. 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, set relevant parameters of the robot, such as firing mode, firing rate, shooting angle, target location, etc.

[0069] In step S3, the decision-making platform 5 is used to realize the robot's autonomous target recognition, aiming and firing control. The main control module is responsible for processing sensor data and control signals, and the video transmission module can realize the functions of image transmission and target location. The camera 6 cooperates with the video transmission module to be able to realize image transmission and real-time information transmission, facilitating the decision-making platform 5 to make the best judgment quickly.

[0070] Scan the surrounding environment through sensors to identify the target object. The robot will automatically adjust the position and posture of the launching mechanism 3 to align the barrel with the target and track the movement of the target in real time to ensure accurate hitting of the target during firing.

[0071] In step S4, according to the characteristics of the target and task requirements, select a suitable firing mode, such as single-shot, continuous firing, burst firing, scatter firing or salvo firing, etc.; after confirmation, the decision-making platform 5 controls the launching mechanism 3 to launch the projectiles.

[0072] 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 hitting situation, the reaction of the target, etc. If it is found that the shooting effect is not ideal, such as low hit rate, ammunition deviation from the target, etc., it is necessary to analyze the reasons in time and make adjustments.

[0073] When the shooting task is completed or the shooting needs to be paused, the decision platform 5 can promptly send a command to the robot to stop shooting and shut down the launching mechanism 3 to avoid unnecessary projectile consumption and safety hazards.

[0074] Working principle of launching mechanism 3:

[0075] Driven by a third motor 405, the dial 403 rotates, causing the projectiles in the funnel 402 to pass through its output end and enter the launcher assembly along the ammunition feed tube 404. The paddles position the projectiles, and a pair of friction wheels apply kinetic energy to the projectiles at the corresponding positions, pushing them into the launch tubes. The projectiles absorb the kinetic energy and are then ejected along the launch tubes. The firing mechanism 3 has three barrels, enabling not only single shots, continuous fire, and bursts, but also scatter shots and three-barrel salvos.

[0076] 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. The arc-surface funnel component 402 and the eight-claw dial 403 are provided in the magazine 4 to ensure the rapid gathering and stable transportation of the projectiles. The overall design is compact and the structure is optimized, which improves the combat capability and operational stability of the robot in complex environments.

[0077] 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 orientations or positional relationships based on the orientations 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", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. 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.

[0078] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0079] Based on the inspiration of the ideal embodiments of the present invention, through the above description, relevant personnel can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this 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 launching robot, characterized in that: It includes a support frame (1). An emission mechanism (3) capable of rotating relative to the support frame (1) is provided at the upper part of the support frame (1). A rotary pan-tilt (2) for driving the support frame (1) to rotate is provided below the support frame (1), and the rotation axes of the support frame (1) and the emission mechanism (3) are perpendicular to each other; The emission mechanism (3) includes a support plate (301), a first emission tube (302) and two second emission tubes (303). The support plate (301) is connected to the support frame (1). The two second emission tubes (303) and the first emission tube (302) are distributed in an inverted product shape structure on the upper and lower sides of the support plate (301); The rear end of the first emission tube (302) is connected to a first emission integrator (307). The rear end of the second emission tube (303) is connected to a second emission integrator. A bullet storage bin (4) for supplying projectiles to the first emission integrator (307) and the second emission integrator is installed on the support plate (301); Wherein, two horizontally arranged friction wheels (304) are oppositely installed on the left and right sides of the first emission integrator (307), and two vertically arranged friction wheels (305) are oppositely installed on the upper and lower sides of the second emission integrator; The support frame (1) includes a bottom plate (101). Longitudinal plates (102) are fixedly connected to both the left and right sides of the bottom plate (101). The bottom plate (101) is perpendicular to the longitudinal plates (102), and the bottom plate (101) is connected to the output end of the rotary pan-tilt (2). The longitudinal plates (102) are rotationally connected to the support plate (301); First motors (103) are installed on the upper parts of the two longitudinal plates (102). The output ends of the first motors (103) are connected to the support plate (301), and the support plate (301) is located between the two longitudinal plates (102); The rotary pan-tilt (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). The output end of the second motor (201) passes through the bearing (204) and is connected to the bottom plate (101).

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

3. The three-barrel launching robot according to claim 1, wherein: 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).

4. The three-barrel launch 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 emission tube (303).

5. The three-barrel launching robot according to claim 1, wherein: 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) is provided 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 end of the corresponding funnel component (402) through an ammunition feeding tube (404).

6. The three-barrel firing robot according to claim 5, wherein: A dial (403) for moving the projectiles is rotatably mounted on the inner side of the funnel component (402).

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