Holder and double-gun-barrel launching mechanism of sentry robot

Abstract

The invention relates to the field of special equipment, and discloses a cradle head and double-gun-barrel launching mechanism of a sentry robot, which comprises a double-gun launching mechanism, an embedded ammunition cabin cradle head, a double-chain ammunition shifting device, a yaw shaft transmission device, a laser radar assembly, an NUC assembly, an NUC power supply assembly, an intelligent control system and ammunition chains, the double-gun launching mechanism is installed at the top of the embedded ammunition cabin holder, the double-chain ammunition shifting device is installed in the embedded ammunition cabin holder, the ammunition chains are installed on the left side and the right side of the embedded ammunition cabin holder, and the two ends of the ammunition chains communicate with the double-gun launching mechanism and the double-chain ammunition shifting device correspondingly; the laser radar assembly is installed in front of the embedded missile cabin holder, the NUC assembly is arranged behind the double-gun launching mechanism, and the yaw shaft transmission device is connected to the bottom of the embedded missile cabin holder. Millisecond linkage of environment sensing, motion tracking, firepower launching and ammunition supply scheduling is achieved through a holder and a double-gun-barrel launching mechanism of the sentry robot of the intelligent control system, and the problem of traditional module splitting is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of special equipment, in particular to a gimbal and double-barreled launching mechanism of a sentinel robot. BACKGROUND

[0002] With the upgrading of security and special operation needs, the sentinel robot needs to have both precise target tracking and sustained firepower response capability. The rotation flexibility of the gimbal as the bearing core of the launching mechanism and the synergy efficiency of the launching mechanism directly determine the success rate of the task. The existing device adopts a single module independent control mode, and the linkage of environment perception, gimbal movement and firepower launching has a delay, which is difficult to adapt to the rapid interception demand of dynamic targets.

[0003] The traditional double-barreled launching system generally faces three major pain points: first, the matching degree of ammunition supply and launching rhythm is low, single-chain ammunition is prone to jamming, and there is a lack of precise guiding structure for ammunition diversion; second, the remaining amount of ammunition depends on manual inspection, and there is no real-time early warning mechanism, which leads to a high risk of task interruption; third, the data interaction between intelligent decision and execution layer is fragmented, and the strike strategy cannot be dynamically adjusted based on the environment and equipment state, which restricts the overall combat effectiveness of the system. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a gimbal and double-barreled launching mechanism of a sentinel robot, which solves the problem of "the existing sentinel robot adopts a single module independent control mode, and the linkage of environment perception, gimbal movement and firepower launching has a delay".

[0005] To achieve the above purpose, the present application realizes the following technical scheme: a gimbal and double-barreled launching mechanism of a sentinel robot, comprising a double-barreled launching mechanism, an embedded ammunition cabin gimbal, a double-chain ammunition feeding device, a yaw shaft transmission device, a laser radar assembly, a NUC assembly, a NUC power supply assembly, an intelligent control system and a belt link; the double-barreled launching mechanism is installed at the top of the embedded ammunition cabin gimbal, the double-chain ammunition feeding device is installed inside the embedded ammunition cabin gimbal, the belt link is installed on the left and right sides of the embedded ammunition cabin gimbal, and the two ends of the belt link are respectively connected to the double-barreled launching mechanism and the double-chain ammunition feeding device; the laser radar assembly is installed in front of the embedded ammunition cabin gimbal, the NUC assembly is arranged behind the double-barreled launching mechanism, the yaw shaft transmission device is connected to the bottom of the embedded ammunition cabin gimbal, and the NUC power supply assembly is installed inside the embedded ammunition cabin gimbal; the intelligent control system is electrically connected with the double-barreled launching mechanism, the double-chain ammunition feeding device, the yaw shaft transmission device, the laser radar assembly and the NUC assembly.

[0006] Preferably, the double gun launching mechanism comprises a double barrel assembly, a double barrel trajectory shunt assembly, an industrial camera assembly, an electronic component box and a light bar device; the double barrel assembly comprises two symmetrically arranged barrel assemblies, the projectile inlet of the double barrel assembly is connected to the projectile outlet of the double barrel trajectory shunt assembly; the industrial camera assembly is installed directly above the double barrel assembly, and the industrial camera assembly is located in front of the double barrel trajectory shunt assembly; the electronic component box is installed on the top of the double barrel trajectory shunt assembly, and the fire control submodule is integrated inside the electronic component box; the NUC assembly is installed behind the double barrel trajectory shunt assembly; the light bar device comprises a light bar, a light bar mounting block and a light bar mounting rack, the light bar mounting rack is fixed on both sides of the double barrel trajectory shunt assembly, the light bar is installed on the top of the light bar mounting rack through the light bar mounting block, and the light bar is located directly above the electronic component box; the fire control submodule is electrically connected with the lower motor friction wheel device, the speed measurement assembly and the ultraviolet lamp of the double barrel assembly.

[0007] Preferably, the lower barrel assembly of the double barrel assembly comprises a lower barrel lower plate, a lower barrel, a lower motor friction wheel device, a lower motor fixing plate, a spring steel limiting piece, a speed measurement assembly, a lower friction wheel protection plate and an ultraviolet lamp; the lower barrel is installed in front of the top surface of the lower barrel lower plate; the lower motor friction wheel device is arranged on one side of the lower barrel, and the side wall surface of the lower motor friction wheel device extends into the interior of the lower barrel, and the lower motor friction wheel device is installed on the lower motor fixing plate; the spring steel limiting piece is symmetrically installed on the upper surface of the lower barrel lower plate on the other side of the lower barrel; the double barrel distance fixing block is installed on the top of the lower motor fixing plate, and the upper barrel assembly is symmetrically installed above the lower barrel assembly through the double barrel distance fixing block; the speed measurement assembly is installed on the side wall in front of the lower barrel; the lower friction wheel protection plate is installed on the lower barrel lower plate, and the lower friction wheel protection plate is located around the lower motor friction wheel device; the ultraviolet lamp is installed at the projectile inlet of the lower barrel; the speed measurement assembly is electrically connected with the fire control submodule.

[0008] Preferably, the dual-barrel bullet path diversion assembly includes a resin diversion assembly, a rear diversion fixing plate, upper and lower diversion outlet pipes, and left and right symmetrical projectile inflow pipe assemblies; the rear diversion fixing plate is installed in the middle of the top surface of the lower barrel plate; the resin diversion assembly is fixed to the front wall of the rear diversion fixing plate; the upper and lower diversion outlet pipes are located in front of the resin diversion assembly, with one end connected to the resin diversion assembly and the other end connected to the upper barrel inlet and lower barrel inlet of the upper barrel assembly, respectively; the right-side projectile inflow pipe assembly includes a right-side diversion bushing clamp, a right-side diversion fixing plate, a right-side motor rotor connecting plate, a bushing assembly, a right-side motor clamping piece, a right-side motor positioning clamp, and a right-side pitch shaft motor. The machine; the right-side shunt fixing plate is installed on the right side wall of the shunt rear fixing plate; the resin shunt assembly is connected to the right-side shunt fixing plate through the right-side shunt shaft sleeve clamp; the right-side motor rotor connecting plate is connected to the right-side shunt fixing plate through the shaft sleeve assembly; the right-side motor sandwich piece is installed on the right side wall of the right-side motor rotor connecting plate; the right-side motor positioning clamp is located on the right side of the right-side motor sandwich piece; the right-side motor sandwich piece and the right-side motor positioning clamp are connected to the right-side motor of the pitch shaft; and the right-side motor sandwich piece, the right-side motor of the pitch shaft, and the right-side motor positioning clamp are provided with interconnected shot flow channels; the right-side motor of the pitch shaft is electrically connected to the small distributor board in the electronic component box.

[0009] Preferably, the embedded ammunition magazine gimbal includes gimbal side plates, ammunition magazine side covers, ammunition magazine upright plates, gimbal base plates, ammunition magazine flow guide ramps, gimbal electronic component mounting boxes, environmental sensing submodules, side plate fixing aluminum square tube blocks, flange bearings, and yaw shaft connecting seats; two gimbal side plates are provided, and the gimbal side plates are symmetrically installed on both sides of the gimbal base plates through side plate fixing aluminum square tube blocks; the ammunition magazine side covers, ammunition magazine upright plates, ammunition magazine flow guide ramps, and the two gimbal side plates form the gimbal ammunition magazine; the tilt angle of the ammunition magazine flow guide ramps is... The angle is 15°~20°; the lidar component is installed on the top front surface of the gimbal base plate; the NUC power supply component is installed on the side plate of the gimbal; the gimbal electronic component mounting box is installed on the bottom surface of the missile compartment guide ramp plate; the flange bearing is horizontally installed at the center of the gimbal base plate, and the yaw shaft connecting seat is connected below the flange bearing; the environmental perception submodule is installed in the gimbal electronic component mounting box, and the environmental perception submodule is electrically connected to the lidar of the lidar component and the industrial camera of the industrial camera component.

[0010] Preferably, the yaw shaft transmission device includes a GM6020 motor, a motor Y-type mounting plate, a coupling shaft, a triangular coupling, a small pulley, a large pulley, a yaw shaft synchronous belt, a crossed roller bearing, a motion control submodule, an inner retaining ring of the crossed roller bearing, and an outer retaining ring of the crossed roller bearing. The GM6020 motor is mounted on the bottom left side of the motor Y-type mounting plate. The bottom end of the coupling shaft is connected to the GM6020 motor rotor via a triangular coupling, and the top end of the coupling shaft passes through the motor Y-type mounting plate and connects to the small pulley. The small pulley is connected to the large pulley via the yaw shaft synchronous belt, and the top surface of the large pulley is connected to the yaw shaft connecting seat. The crossed roller bearing is mounted inside the Y-shaped fork on the right side of the motor Y-type mounting plate. The inner retaining ring of the crossed roller bearing connects the top of the crossed roller bearing to the bottom surface of the large pulley, and the outer retaining ring of the crossed roller bearing is mounted on the bottom surface of the motor Y-type mounting plate. The motion control submodule is integrated into the gimbal electronic component mounting box and is electrically connected to the intelligent control system.

[0011] Preferably, the dual-chain feeding device includes an M3508 motor, a feeding disc base plate, a feeding disc outer cover, a feeding tooth drive shaft, a feeding pulley, a motor ESC, a feeding scheduling submodule, a projectile layering plate, feeding teeth, and a projectile balance sensor; two M3508 motors are provided, mounted side-by-side on the top surface of the feeding disc base plate, with the rotors of the M3508 motors passing through the feeding disc base plate and connecting to the feeding pulley; two feeding disc outer covers are provided, symmetrically distributed on both sides of the M3508 motors, the feeding disc outer covers are cylindrical and mounted on the feeding disc base plate, and the top opening of the feeding disc outer cover is located directly below the ammunition compartment guide ramp; the projectile layering plate is provided on the feeding tooth drive shaft, a feeding pulley, a feeding tooth drive shaft, a feeding pulley, a motor ESC, a feeding scheduling submodule, a projectile layering plate, a feeding tooth drive shaft, and a projectile balance sensor; two M3508 motors are provided, mounted side-by-side on the top surface of the feeding disc base plate, with the rotors of the M3508 motors passing side-by-side on the top surface of the feeding disc base plate, with the rotors of the M3508 motors passing side-by-side on the top surface of the feeding disc base plate, and the top opening of the feeding disc outer cover is located directly below the ammunition compartment guide ramp; the projectile layering plate is provided on the feeding tooth drive shaft, a ... Inside the outer cover of the ammunition tray, in the middle position, there are small holes with a diameter slightly larger than the ammunition on the projectile layer plate; the pawl is located on the top surface inside the outer cover of the ammunition tray, and the pawl is connected to the top of the pawl drive shaft, the bottom of the pawl drive shaft passes through the bottom plate of the ammunition tray, and the bottom of the pawl drive shaft is connected to the ammunition pulley via a synchronous belt; the side wall of the outer cover of the ammunition tray has a projectile outlet, and the projectile outlet is connected to the small holes on the projectile layer plate through a projectile outlet pipe; the motor ESC is installed on the bottom plate of the ammunition tray, and the motor ESC is electrically connected to the M3508 motor; the ammunition supply scheduling submodule is electrically connected to the motor ESC and the projectile balance sensor respectively, and the projectile balance sensor is installed inside the ammunition compartment upright plate.

[0012] Preferably, the intelligent control system includes a main control module, a data fusion module, an instruction generation module, a communication module, a control box, and a bracket; the main control module, the data fusion module, the instruction generation module, and the communication module are integrated into the control box; the control box is detachably mounted behind the gimbal base plate of the embedded bomb bay gimbal via the bracket; the data fusion module is electrically connected to the environmental perception submodule.

[0013] Preferably, the NUC assembly includes a NUC mini computer, a NUC mounting bracket, mounting blocks, and a NUC protective shell; two mounting blocks are provided, which are detachably mounted to the lower barrel plate and the upper barrel plate of the upper barrel assembly respectively by bolts; the NUC mounting bracket is fixed to the mounting blocks and has a hollow design; the NUC mini computer is installed inside the NUC mounting bracket; the NUC protective shell is detachably mounted on the NUC mounting bracket and covers the exterior of the NUC mini computer; the NUC mini computer is electrically connected to the radar, NUC power supply assembly, industrial camera, central control board of electronic component box, and intelligent control system respectively.

[0014] Preferably, the NUC power supply assembly includes a step-down integrated circuit board, a lower power supply module board, a power supply module cover, and a current sensor; the lower power supply module board is made of insulating material and is mounted on the gimbal side plate; the step-down integrated circuit board is fixed on the lower power supply module board and integrates a DC-DC step-down chip and a filter circuit; the power supply module cover is mounted on the lower power supply module board and covers the outside of the step-down integrated circuit board, and the cover of the power supply module cover has heat dissipation holes; the current sensor is integrated on the step-down integrated circuit board.

[0015] This invention provides a gimbal and dual-barrel firing mechanism for a sentry robot. It offers the following advantages: This invention achieves millisecond-level linkage between environmental perception, motion tracking, firepower firing, and ammunition supply scheduling through the gimbal and dual-barrel firing mechanism of the intelligent control system sentinel robot, solving the problem of traditional module fragmentation. The firepower control submodule of the sentinel robot's gimbal and dual-barrel firing mechanism, combined with a velocity measurement component, dynamically corrects the projectile velocity. With the gimbal's ±0.05° angle adjustment accuracy, the dispersion diameter of the strike within 50 meters is ≤30mm, which is 50% more accurate than the traditional single-barrel device, and the success rate of dynamic target interception is increased by more than 40%. At the same time, the NUC power supply component of the sentinel robot's gimbal and dual-barrel firing mechanism's step-down circuit stably outputs 12V±0.5V voltage, integrates a current sensor to monitor power, and cuts off non-core power supply in case of overload, ensuring the safety of core functions and avoiding the risk of a system-wide power outage.

[0016] The dual-chain ammunition feeding device of this invention features a dual M3508 motor redundancy design for the gimbal and dual-barrel firing mechanism of the sentry robot. In the event of a single motor failure, the other motor can immediately fill the gap. Combined with the single-layer limiting structure of the projectile layering plate and the low-friction guiding of the resin diversion component, the projectile jamming rate is reduced to below 0.1%. The projectile balance sensor monitors the ammunition quantity in real time, automatically triggering a replenishment reminder when the ammunition quantity is below 15% of the magazine capacity. Combined with the large-capacity magazine design of the embedded ammunition magazine gimbal, the continuous combat time is extended by 60% compared to traditional devices, avoiding mission failure due to ammunition interruption or insufficient ammunition.

[0017] This invention adopts a design of "the gimbal and dual-barrel firing mechanism of the sentry robot with an embedded ammunition magazine as the core component". The gimbal and dual-barrel firing mechanism of the sentry robot are installed on the top of the gimbal. Changes in the weight of the ammunition magazine do not affect the attitude of the firing mechanism. The overall center of gravity is concentrated in the center of the gimbal and dual-barrel firing mechanism of the sentry robot on the base plate of the gimbal. With the cross roller bearing, the gimbal and dual-barrel firing mechanism of the sentry robot have dual radial and axial load bearing capacity. The drive load is uniform when the gimbal rotates and pitches. The drive response delay of the GM6020 motor sentry robot's gimbal and dual-barrel firing mechanism is shortened to less than 0.1s. The drive accuracy is improved by 35% compared with the traditional device with a center of gravity offset, which is suitable for the rapid tracking requirements of high-speed dynamic targets. Attached Figure Description

[0018] Figure 1 This is a front view of the sentry robot gimbal and dual-barrel firing device of the present invention; Figure 2 This is a schematic diagram of the exploded structure of the dual-gun firing mechanism of the present invention; Figure 3 This is a schematic diagram showing the connection relationship between the dual-chain feeding device, the ammunition belt, and the dual-barrel bullet path diversion assembly of the present invention. Figure 4 This is a schematic diagram of the light strip device structure of the present invention; Figure 5 This is a schematic diagram of the electronic component box structure of the present invention; Figure 6 This is a schematic diagram of the lower barrel assembly in the dual-barrel assembly of the present invention; Figure 7 This is a schematic diagram of the exploded structure of the dual-barrel bullet path diversion assembly of the present invention; Figure 8 This is a schematic diagram of the exploded structure of the industrial camera component of the present invention; Figure 9This is a schematic diagram of the exploded structure of the gimbal with a hidden gimbal side plate in the embedded bomb bay gimbal of the present invention. Figure 10 This is a schematic diagram of the lidar component structure of the present invention; Figure 11 This is an exploded structural diagram of the yaw shaft transmission device of the present invention; Figure 12 This is an isometric view of the double-chain paddle mechanism of the present invention and a top view of a single paddle. Figure 13 This is an exploded view of the NUC power supply component of the present invention; Figure 14 This is a schematic diagram of the explosive structure of the ammunition belt of the present invention; Figure 15 This is a schematic diagram of the NUC component structure of the present invention; Figure 16 This is the control flowchart of the present invention.

[0019] Explanation of reference numerals in the attached diagram: 1. Dual-gun firing mechanism; 2. Embedded ammunition magazine gimbal; 3. LiDAR assembly; 4. Yaw shaft drive device; 5. Dual-chain ammunition feeding device; 6. NUC power supply assembly; 7. Ammunition belt; 8. NUC assembly; 9. Intelligent control system; 11. Light strip assembly; 12. Electronic component box; 13. Dual-barrel assembly; 14. Dual-barrel ammunition path splitter assembly; 15. Industrial camera assembly; 111. Light strip; 112. Light strip mounting block; 113. Light strip mounting bracket; 121. Electronic component box body; 122. Electronic component box cover; 123. Central control board; 124. Small distributor board; 125. Fire control submodule; 131. Dual-barrel distance fixing block; 132. Lower motor fixing plate; 133. Spring steel 134. Limiting plate; 135. Lower barrel plate; 136. Speed ​​measuring assembly; 137. Lower friction wheel protection plate; 138. Lower motor friction wheel assembly; 139. Ultraviolet lamp; 140. Lower barrel; 141. Resin diversion assembly; 142. Right diversion shaft sleeve clamp; 143. Right diversion fixing plate; 144. Right motor rotor connecting plate; 145. Shaft sleeve assembly; 146. Rear diversion fixing plate; 147. Right motor sandwich piece; 148. Right motor positioning clamp; 149. Upper and lower diversion outlet pipes; 1410. Right motor of pitch axis; 151. Camera protective cover; 152. Industrial camera; 153. Camera mounting base; 154. Camera fixing block; 21. Gimbal side plate; 22. Ammunition compartment side cover; 23. Ammunition compartment upright plate 24. Gimbal base plate; 25. Yaw shaft connector; 26. Side plate fixing aluminum square tube block; 27. Flange bearing; 28. Gimbal electronic component mounting box; 29. ​​Ammunition compartment guide ramp; 231. Projectile balance sensor; 281. Environmental perception submodule; 282. Motion control submodule; 31. Radar; 41. Large pulley; 42. Crossed roller bearing inner retaining ring; 43. Crossed roller bearing; 44. Crossed roller bearing outer retaining ring; 47. Triangular coupling; 48. GM6020 motor; 49. Motor Y-type mounting plate; 410. Coupling central shaft; 412. Small pulley; 414. Yaw shaft synchronous belt; 51. M3508 motor; 52. Projectile feed disc outer cover; 53. Projectile layered plate; 54. Feeding teeth; 5 5. Pitch drive shaft; 56. Motor ESC; 57. Pitch pulley; 58. Pitch disc base plate; 59. Feed scheduling submodule; 61. Step-down integrated circuit board; 62. Power supply module lower plate; 63. Power supply module outer cover; 71. Pitch shaft bolt head washer; 72. Pitch chain inner nested shaft; 73. Motor positioning sleeve shaft; 74. Pitch chain corner piece; 75. Pitch disc outlet positioning sleeve shaft; 76. Pitch chain lower fixing piece; 77. Pitch chain pipeline; 78. Pitch chain upper fixing piece; 81. NUC mini computer; 82. NUC protective shell; 83. NUC mounting bracket; 84. Mounting block for mounting bracket; 91. Main control module; 92. Data fusion module; 93. Command generation module; 94. Communication module; 95. Control box; 96. Bracket. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example: Please see the appendix Figure 1 Appendix Figure 16 This invention provides a gimbal and dual-barrel firing mechanism for a sentry robot, including a dual-gun firing mechanism 1, an embedded ammunition magazine gimbal 2, a dual-chain ammunition feeding device 5, a yaw shaft transmission device 4, a lidar assembly 3, a NUC assembly 8, a NUC power supply assembly 6, and an intelligent control system 9. The dual-gun firing mechanism 1 is mounted on top of the embedded ammunition magazine gimbal 2, and the dual-chain ammunition feeding device 5 is mounted inside the embedded ammunition magazine gimbal 2. Ammunition belts 7 are mounted on the left and right sides of the embedded ammunition magazine gimbal 2, with both ends of the ammunition belts 7 connected to the dual-gun firing mechanism 1 and the dual-chain ammunition feeding device 5, forming a complete ammunition path of ammunition magazine, ammunition feeding, ammunition supply, and firing, ensuring smooth projectile transmission. A lidar assembly 3 is mounted in front of the embedded ammunition magazine gimbal 2, which can scan the surrounding environment 360° and capture images in real time. The system acquires the target's three-dimensional coordinates. A NUC component 8 is located behind the dual-gun firing mechanism 1, serving as the core for data preprocessing and reducing the computational load on the intelligent control system 9. The bottom of the embedded ammunition magazine gimbal 2 is connected to a yaw shaft drive device 4, enabling omnidirectional horizontal rotation of the gimbal. An internal NUC power supply component 6 provides stable power to the entire system. The intelligent control system 9 is electrically connected to the dual-gun firing mechanism 1, the dual-chain ammunition feeding device 5, the yaw shaft drive device 4, the lidar component 3, and the NUC component 8. It can receive target data and equipment status data collected by each component, generate precise control commands through algorithms, and achieve closed-loop coordination of target identification, tracking and positioning, fire control, and firing. It also has a fault self-diagnosis function, improving equipment reliability.

[0022] Furthermore, the dual-gun firing mechanism 1 includes a dual-barrel assembly 13, a dual-barrel bullet path splitter assembly 14, an industrial camera assembly 15, an electronic component box 12, and a light strip device 11. The dual-barrel assembly 13 contains two symmetrically arranged barrels, enabling alternating firing, reducing the gap in firepower output, and ensuring continuous suppression capability. The bullet inlet of the dual-barrel assembly 13 is connected to the bullet outlet of the dual-barrel bullet path splitter assembly 14, ensuring that the bullets are orderly distributed to the upper and lower barrels. An industrial camera assembly 15 is installed in front of the dual-barrel assembly 13, which can capture high-definition images of the target in real time, complementing the LiDAR data and improving the target recognition accuracy in complex environments. An electronic component box 12 is installed on top to integrate control components, reducing wiring clutter. A NUC assembly 8 is installed at the rear. Short data transmission distance reduces latency; the light strip device 11 includes a light strip 111, a light strip mounting block 112, and a light strip mounting bracket 113. The light strip mounting bracket 113 is fixed to both sides of the dual-barrel bullet path diversion assembly 14. The light strip 111 is mounted on top of the light strip mounting bracket 113 via the light strip mounting block 112 and is located directly above the electronic component box 12, providing illumination in nighttime or low-light environments. This facilitates equipment maintenance by operators and assists the industrial camera assembly 15 in capturing target details. The electronic component box 12 integrates a fire control submodule 125, which is electrically connected to the lower motor friction wheel device 137, the speed measuring component 135, and the ultraviolet lamp 138 of the dual-barrel assembly 13. It is used to receive commands from the intelligent control system 9 and, based on the projectile velocity data collected by the speed measuring component 135, calculate the projectile velocity using a formula.

[0023] The speed of the lower motor friction wheel device 137 of the dual-barrel assembly 13 is dynamically adjusted to ensure that the projectile accurately hits the target at different distances. Simultaneously, the operation and intensity of the ultraviolet lamp 138 are controlled, both to charge the projectile for ballistic tracking and to adjust energy consumption according to ambient light intensity. This is a rate-of-fire correction factor calculated based on target distance deviation, with a value range of -5%. 5%.

[0024] Furthermore, the lower barrel assembly of the dual-barrel assembly 13 includes a lower barrel plate 134, a lower barrel 139, a lower motor friction wheel device 137, a lower motor fixing plate 132, a spring steel limiting plate 133, a velocity measuring component 135, a lower friction wheel protection plate 136, and an ultraviolet lamp 138. The lower barrel 139 is installed in front of the top face of the lower barrel plate 134 and is made of high-precision metal material to ensure the straightness of the trajectory and reduce the deviation of the projectile flight. The lower motor friction wheel device 137 is located on one side of the lower barrel 139 and its side circumference extends into the lower barrel 139. It is installed on the lower motor fixing plate 132 and provides the firing power for the projectile through the high-speed rotation of the friction wheel. The surface of the friction wheel is made of wear-resistant rubber material to extend its service life. On the other side of the lower barrel 139, there are symmetrical spring steel limiting plates 133 installed in the groove on the upper surface of the lower barrel plate 134. These plates can elastically clamp the projectile to ensure the stability of the projectile's attitude before firing and avoid vibration. The design minimizes ballistic deviation while remaining compatible with projectiles of slight dimensional deviations, improving adaptability. A dual-barrel distance fixing block 131 is installed on the top of the lower motor mounting plate 132. The upper barrel assembly is symmetrically mounted above the lower barrel assembly via the dual-barrel distance fixing block 131, ensuring the coaxiality of the upper and lower barrels and ensuring consistent aiming during alternating firing. A velocity measuring component 135 is installed on the front side wall of the lower barrel 139, using the infrared beam principle to accurately collect the projectile's transit time. A lower friction wheel protection plate 136 is installed on the lower barrel plate 134, located around the lower motor friction wheel device 137, to prevent projectile debris and dust from entering the gap between the friction wheel and the motor, avoiding equipment jamming or short circuits. An ultraviolet lamp 138 is installed at the projectile inlet of the lower barrel 139 to charge the fluorescent material on the projectile surface, facilitating subsequent trajectory tracking by a high-speed camera and assisting in calibrating firing accuracy. The velocity measuring component 135 collects the time difference of the projectile passing through the lower barrel 139 via an infrared sensor. Combining the sensor spacing L within the lower barrel 139, the formula is:

[0025] The projectile firing rate is calculated and the data is transmitted in real time to the fire control submodule 125 to form a firing rate feedback closed loop and dynamically correct the firing parameters.

[0026] Furthermore, the dual-barrel bullet path diversion assembly 14 includes a resin diversion assembly 141, a rear diversion fixing plate 146, upper and lower diversion outlet pipes 149, and symmetrically arranged bullet inflow pipe assemblies. The rear diversion fixing plate 146 is installed in the middle of the top surface of the lower barrel plate 134 to provide stable support for the diversion assembly. The resin diversion assembly 141 is fixed to the front wall of the rear diversion fixing plate 146 and is made of low-friction resin material to reduce the resistance when the bullet passes through and avoid bullet surface wear or jamming. The upper and lower diversion outlet pipes 149 are located in front of the resin diversion assembly 141, with one end... The resin diversion assembly 141 is connected to the upper barrel inlet and the lower barrel inlet 139 of the upper barrel assembly, respectively. The inner wall of the tube is smooth and the curvature is adapted to the trajectory of the projectile, ensuring that the projectile enters the barrel smoothly. The right-side projectile inflow pipe assembly includes a right-side diversion bushing clamp 142, a right-side diversion fixing plate 143, a right-side motor rotor connecting plate 144, a bushing assembly 145, a right-side motor clamp 147, a right-side motor positioning clamp 148, and a pitch shaft right-side motor 1410. The right-side diversion fixing plate 143 is installed on the right side wall of the diversion rear fixing plate 146. This serves to reinforce the structure. The resin diversion assembly 141 is connected to the right diversion fixing plate 143 via the right diversion shaft sleeve clamp 142. The shaft sleeve clamp can be flexibly disassembled for easy maintenance or pipe replacement. The right motor rotor connecting plate 144 is connected to the right diversion fixing plate 143 via the shaft sleeve assembly 145 to ensure unobstructed shot passage. The right motor clamp 147 is installed on the right side wall of the right motor rotor connecting plate 144, and the right motor positioning clamp 148 is located on the right side of the right motor clamp 147. The pitch shaft right motor 1410 is connected between the two. The three components are connected by a projectile passage, enabling an integrated design that allows for motor rotation adjustment and synchronous projectile passage, thus avoiding structural interference. The right-side motor 1410 of the pitch axis is electrically connected to the small distributor board 124 inside the electronic component box 12, receiving motion control commands from the intelligent control system 9. This allows the right-side motor clamp 147 and the right-side motor rotor connecting plate 144 to rotate precisely, adjusting the pitch angle of the dual-gun firing mechanism 1 to adapt to targets at different altitudes, such as low-altitude drones and ground moving targets. It also works in conjunction with the yaw axis transmission device 4 to achieve omnidirectional aiming.

[0027] Furthermore, the embedded ammunition magazine gimbal 2 includes gimbal side plates 21, ammunition magazine side covers 22, ammunition magazine upright plates 23, gimbal base plates 24, ammunition magazine flow guide ramp plates 29, gimbal electronic component mounting boxes 28, and environmental sensing submodules 281. Two gimbal side plates 21 are provided, with aluminum square tube blocks 26 symmetrically installed on both sides of the gimbal base plate 24 via the side plates. The aluminum square tube blocks combine lightweight and high strength characteristics, reducing the overall weight of the gimbal while ensuring structural stability. The ammunition magazine side covers 22, ammunition magazine upright plates 23, ammunition magazine flow guide ramp plates 29, and gimbal side plates 21 form the gimbal ammunition magazine. The ammunition magazine side covers 22 are detachable for easy and rapid ammunition replenishment. The inner side of the ammunition magazine upright plates 23 has anti-slip textures to prevent the projectiles from shaking violently when the gimbal rotates. The ammunition magazine flow guide ramp plates 29 have an optimized tilt angle design, with a tilt angle of 15°~20°, allowing the projectiles to automatically slide down to the double-chain chuck using gravity. Device 5 requires no additional power drive, saving energy and reducing the risk of failure. A lidar assembly 3 is installed on the top front surface of the gimbal base plate 24 to ensure unobstructed radar scanning. A NUC power supply assembly 6 is installed on the gimbal side plate 21, away from the vibration source of the launching mechanism to ensure stable power supply. A gimbal electronic component mounting box 28 is installed on the bottom surface of the missile bay guide ramp plate 29. The box body uses metal shielding material to reduce electromagnetic interference and protect internal components. A flange bearing 27 is installed in the center of the gimbal base plate 24 to reduce frictional resistance during yaw axis rotation. A yaw axis connector 25 is connected below the flange bearing 27 to ensure coaxiality during rotation. The environmental perception submodule 281 is installed inside the gimbal electronic component mounting box 28 and is electrically connected to the lidar 31 of the lidar assembly 3 and the industrial camera 152 of the industrial camera assembly 15, respectively, receiving the target distance d and azimuth angle collected by the lidar 31. Target pixel coordinates acquired by industrial camera 152 Through coordinate transformation formula:

[0028]

[0029] Converting radar data into three-dimensional spatial coordinates and fusing it with camera image details can effectively eliminate misidentification caused by interference such as tree branches and birds, generating accurate target fusion data that is transmitted to the intelligent control system 9.

[0030] Furthermore, the yaw shaft transmission device 4 includes a GM6020 motor 48, a motor Y-type mounting plate 49, a coupling shaft 410, a triangular coupling 47, a small pulley 412, a large pulley 41, a yaw shaft synchronous belt 414, a crossed roller bearing 43, and a motion control submodule 282. The GM6020 motor 48 is mounted on the bottom left side of the motor Y-type mounting plate 49. The motor has high torque and low speed fluctuation characteristics, ensuring smooth rotation and rapid response of the gimbal. The bottom end of the coupling shaft 410 is connected to the rotor of the GM6020 motor 48 through the triangular coupling 47. The triangular coupling 47 has a certain buffering effect, which can absorb the impact load when the motor starts and protect the transmission components. The top end of the coupling shaft 410 passes through the motor Y-type mounting plate 49 and connects to the small pulley 412. The small pulley 412 is connected to the yaw shaft synchronous belt 414 through the motor Y-type mounting plate 49. The W-axis synchronous belt 414 connects to the large pulley 41. The synchronous belt is made of polyurethane, achieving a transmission efficiency of over 95% and requiring no lubrication, thus reducing maintenance costs. The top surface of the large pulley 41 connects to the yaw axis connecting seat 25, achieving speed reduction and torque increase through belt drive, enhancing the torque reserve for gimbal rotation. The crossed roller bearing 43 is installed inside the Y-shaped fork on the right side of the motor Y-mount plate 49, capable of simultaneously bearing radial and axial loads, ensuring stable rotation of the gimbal under load. The top of the crossed roller bearing 43 is connected to the bottom surface of the large pulley 41 via an inner cross roller bearing retaining ring 42, and the bottom is equipped with an outer cross roller bearing retaining ring 44. This double retaining ring design prevents the internal balls of the bearing from falling out. The motion control submodule 282 is integrated into the gimbal electronic component mounting box 28, receiving target fusion data from the intelligent control system 9 and calculating the yaw axis rotation angle deviation.

[0031] Using the PID algorithm:

[0032] A pulse control signal is generated to precisely control the speed and direction of the GM6020 motor 48, driving the yaw axis connector 25 to rapidly rotate the gimbal base plate 24 to the target position. The angle adjustment accuracy reaches ±0.05°, meeting the requirements for high-precision tracking and aiming. The preset PID parameters can be dynamically adjusted according to the environment.

[0033] Furthermore, the dual-chain ammunition feeding device 5 includes an M3508 motor 51, an ammunition feeding disc base plate 58, an ammunition feeding disc cover 52, an ammunition feeding gear drive shaft 55, an ammunition feeding pulley 57, a motor ESC 56, and an ammunition feeding scheduling submodule 59. Two M3508 motors 51 are installed side-by-side on the top surface of the ammunition feeding disc base plate 58. The dual-motor design provides redundancy and backup; if one motor fails, the other motor can temporarily take over the ammunition feeding task to avoid interruption of firepower. The rotor of the M3508 motor 51... The feed pulley 57 is connected through the feed tray base plate 58, and the motor speed can be precisely adjusted by the motor speed controller 56; there are two feed tray covers 52, symmetrically distributed on both sides of the M3508 motor 51, which are cylindrical and installed on the feed tray base plate 58. The covers can prevent the bullets from being ejected during the feeding process. The top opening is located directly below the bullet compartment guide ramp 29 to ensure that the bullets can fall accurately into the feed tray; the feed tray cover 52 has a bullet layer plate 53 inside, and the layer plate has a straight opening. A small hole, slightly larger than the projectile, restricts the projectiles to a single layer, preventing jamming caused by multiple projectiles stacking and ensuring that each projectile enters the trajectory in an orderly manner. A toothed 54 is located on the top surface inside the outer cover 52 of the projectile feeding disc. The toothed 54 is connected to the top of the toothed 55 drive shaft. The toothed 54 is made of wear-resistant nylon to reduce wear on the projectiles. The bottom end of the toothed 55 passes through the base plate 58 of the projectile feeding disc and is located below the base plate 58. It is connected to the pulley 57 via a synchronous belt, realizing the power transmission between the motor, pulley, drive shaft, and toothed 54. A projectile outlet is located on the side wall of the outer cover 52 of the projectile feeding disc, connected to a small hole on the projectile layer plate 53 via a projectile outlet pipe. The inner wall of the pipe is smooth to reduce projectile resistance. The ammunition supply scheduling submodule 59 is electrically connected to the motor ESC 56 and the projectile balance sensor 231 inside the ammunition compartment upright plate 23, receiving the firing command from the intelligent control system 9. The firing command includes the firing rate n, calculated according to the formula:

[0034] The feed rate is calculated by controlling the speed of motor 51 (M3508) via motor ESC 56, where k is the feed coefficient, ranging from 1.2 to 1.5, with feed redundancy to avoid insufficient feed. Simultaneously, the remaining feed data m collected by projectile balance sensor 231 is received. When:

[0035] At that time, a replenishment reminder signal is generated and transmitted to the intelligent control system 9, and then fed back to the remote control console via the communication module, so as to promptly notify the operator to replenish ammunition. It is 15% of the bomb bay capacity.

[0036] Furthermore, the intelligent control system 9 includes a main control module 91, a data fusion module 92, an instruction generation module 93, and a communication module 94, all integrated into an independent control box 95. The control box 95 is detachably mounted behind the gimbal base plate 24 of the embedded missile bay gimbal 2 via a bracket 96, away from the vibration and high-temperature areas of the launch mechanism, ensuring stable operation of the control module. The main control module 91, as the system's "core brain," uses a high-performance embedded chip to coordinate the working sequence of the data fusion module 92, instruction generation module 93, and communication module 94, avoiding instruction conflicts. It also monitors the power supply status and motor speed of each component in real time, immediately triggering a protection mechanism upon detecting an anomaly. The data fusion module 92 receives target fusion data from the environmental perception submodule 281 and processes it using a Kalman filter algorithm.

[0037] It filters noise from radar and camera data, such as ambient light interference and electromagnetic interference, to output accurate target data with an error of less than ±0.5m. These are the filtered state values. For Kalman gain, H represents the observation value, and H represents the observation matrix. The command generation module 93 generates target tracking commands, fire launch commands, and ammunition supply commands based on precise target data and a preset combat strategy, with a command transmission delay of less than 0.1s. The communication module 94 supports 5G / WiFi wireless communication and Ethernet wired communication, with a wireless communication distance of up to 1km. It can realize real-time data interaction with a remote control console and can also form a collaborative network with multiple sentry robots to share target information, achieve zoned alert and crossfire coverage, and improve the overall alert range and strike efficiency.

[0038] Furthermore, the NUC component 8 includes a NUC mini computer 81, a NUC mounting bracket 83, mounting bracket blocks 84, and a NUC protective shell 82. Two mounting bracket blocks 84 are provided, one installed on the lower barrel plate 134 and the other on the upper barrel plate of the upper barrel assembly, respectively. They are connected by bolts for easy disassembly and maintenance. The NUC mounting bracket 83 is fixed to the mounting bracket blocks 84. The bracket body adopts a hollow design, which reduces weight and facilitates heat dissipation for the NUC mini computer 81. The NUC mini computer 81 is installed inside the NUC mounting bracket 83 and uses a low-power processor, meeting data requirements. To reduce energy consumption while preprocessing data, the NUC mini-computer 81 is equipped with a NUC protective shell 82 made of flame-retardant ABS material, which can prevent impact from projectiles or liquid splashes, making it suitable for complex outdoor environments. The NUC mini-computer 81 is electrically connected to the radar 31, NUC power supply component 6, industrial camera 152, central control board 123, and intelligent control system 9. It can receive raw point cloud data from the radar 31, raw image data from the industrial camera 152, and device status data from the central control board 123, preprocess the data using built-in algorithms, and then perform data compression algorithms.

[0039] By reducing the amount of data transmitted, the pre-processed data is finally transmitted to the intelligent control system 9, effectively reducing the computational burden on the intelligent control system and improving the overall response speed. Where r is the original data volume, and r is the compression ratio, ranging from 0.3 to 0.5.

[0040] Furthermore, the NUC power supply assembly 6 includes a step-down integrated circuit board 61, a lower power supply module board 62, and a power supply module housing 63. The lower power supply module board 62 is mounted on the gimbal side panel 21 and is made of insulating material to prevent short circuits with the metal side panel. The step-down integrated circuit board 61 is fixed to the lower power supply module board 62 and integrates a DC-DC step-down chip and a filter circuit, which can receive external input voltage. The voltage is stabilized to [a certain value] through a DC-DC converter circuit. The power supply module provides adaptive voltages for NUC component 8, intelligent control system 9, and various sub-modules, with voltage ripple less than 50mV to ensure stable operation of electronic components. The power supply module housing 63 is mounted on the lower plate 62 of the power supply module and has heat dissipation holes to prevent overheating of the step-down integrated circuit board 61 during operation. Simultaneously, the step-down integrated circuit board 61 integrates a current sensor, which can collect the operating current I of each component in real time using the formula:

[0041] Calculate the power of each component and the total power. When the overload protection mechanism is activated, it prioritizes cutting off the power supply to non-core components such as the light strip device 11 and some sensors, while ensuring the normal power supply to core components such as the dual-gun firing mechanism 1 and the intelligent control system 9. This prevents a system-wide power outage due to overload and ensures uninterrupted warning and attack functions. The rated maximum power is 100W, which is preset according to the system configuration.

[0042] Working principle: After the device is powered on, the step-down integrated circuit board 61 of the NUC power supply component 6 first completes the voltage conversion, converting 24V to 64V. The 48V external input is stabilized at 12V±0.5V, powering the NUC component 8, intelligent control system 9, and various sub-modules. The current sensor is activated simultaneously to monitor the power of each component. Subsequently, the environmental perception sub-module 281 is activated: the radar 31 of the lidar component 3 acquires the target distance and azimuth angle through 360° scanning, and the industrial camera 152 of the industrial camera component 15 captures the target pixel coordinates. The two types of raw data are first transmitted to the NUC minicomputer 81 of the NUC component 8, where point cloud noise reduction, image cropping, and data format conversion are completed by the built-in algorithm. Then, the transmission volume is reduced by the compression algorithm, and finally uploaded to the data fusion module 92 of the intelligent control system 9. At the same time, the projectile balance sensor 231 inside the ammunition compartment stand plate 23 collects the number of projectiles in the ammunition compartment in real time and transmits it to the ammunition supply scheduling sub-module 59 of the dual-chain ammunition feeding device 5. The sub-module initially judges whether the ammunition quantity is lower than the threshold and synchronously uploads the ammunition quantity data to the main control module 91 of the intelligent control system 9.

[0043] The main control module 91 receives the precise three-dimensional coordinates of the target and the ammunition quantity status from the ammunition supply scheduling submodule 59, output by the data fusion module 92. Combined with the preset combat strategy, it issues three types of coordinated commands through the command generation module 93: the motion control command is transmitted to the motion control submodule 282 integrated in the gimbal electronic component mounting box 28. The submodule calculates the yaw axis rotation angle deviation and the pitch axis elevation angle deviation, and generates control signals through the PID algorithm: on the one hand, it drives the GM6020 motor 48, which drives the small pulley 412 through the triangular coupling 47 and the coupling central shaft 410, and then drives the large pulley 41 through the yaw axis synchronous belt 414. Finally, the yaw axis connecting seat 25 drives the gimbal base plate 24 to rotate horizontally. The crossed roller bearing 43 ensures the radial and axial stability during rotation, and the conductive slip ring 45 prevents the wires from getting tangled during rotation; on the other hand, it drives the right motor 1410 of the pitch axis, which drives the right motor clamp 147 and the right motor rotor connecting plate 144 to rotate, adjusting the elevation angle of the dual gun firing mechanism 1 to achieve real-time target tracking and aiming. The fire control command is transmitted to the fire control submodule 125 of the electronic component box 12. The submodule receives the projectile velocity data from the velocity measuring component 135. The velocity measuring component collects the time difference of the projectile passing through the lower barrel 139 through the infrared beam sensor and calculates the current rate of fire based on the sensor spacing. The submodule then calculates the rate of fire correction coefficient based on the target distance deviation, adjusts the rotation speed of the lower motor friction wheel device 137, and controls the ultraviolet lamp 138 to start and stop to charge the projectile. The spring steel limit plate 133 elastically clamps the projectile to ensure that the projectile is in close contact with the friction wheel to obtain stable kinetic energy, ultimately realizing the alternating firing of the dual barrels. The lower friction wheel protection plate 136 prevents debris from entering the friction wheel gap. The ammunition supply control command is transmitted to the ammunition supply scheduling submodule 59. The submodule calculates the feed rate based on the firing rate in the fire command and the feed coefficient, and then controls the motor ESC 56 to adjust the speed of the M3508 motor 51. The rotor of the M3508 motor drives the feed pulley 57, which drives the feed gear transmission shaft 55 via the synchronous belt, and then drives the feed gear 54 inside the feed disc cover 52 to rotate. The projectile in the magazine slides into the feed disc cover 52 along the magazine guide ramp 29. The projectile layer plate 53 restricts the projectile to a single layer. The feed gear 54 pushes the projectile to the projectile outlet, and then transmits it to the dual-barrel bullet path diversion assembly 14 via the feed disc outlet positioning sleeve shaft 75, the bullet belt pipeline 77, and the inner nesting shaft 72 of the bullet belt. The resin diversion assembly 141 accurately distributes the projectile to the inlet of the upper barrel and the lower barrel.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gimbal and dual-barrel firing mechanism for a sentry robot, characterized in that: The system includes a dual-gun firing mechanism (1), an embedded ammunition magazine gimbal (2), a double-chain ammunition feeding device (5), a yaw shaft drive device (4), a laser radar assembly (3), a NUC assembly (8), a NUC power supply assembly (6), an intelligent control system (9), and an ammunition belt (7). The dual-gun firing mechanism (1) is installed on the top of the embedded ammunition magazine gimbal (2), the double-chain ammunition feeding device (5) is installed inside the embedded ammunition magazine gimbal (2), and the ammunition belt (7) is installed on the left and right sides of the embedded ammunition magazine gimbal (2), with both ends of the ammunition belt (7) connected to the dual-gun firing mechanism (1). The system is equipped with a dual-chain bullet-feeding device (5); the laser radar component (3) is installed in front of the embedded ammunition magazine gimbal (2); the NUC component (8) is located behind the dual-gun firing mechanism (1); the yaw shaft drive device (4) is connected to the bottom of the embedded ammunition magazine gimbal (2); and the NUC power supply component (6) is installed inside the embedded ammunition magazine gimbal (2). The intelligent control system (9) is electrically connected to the dual-gun firing mechanism (1), the dual-chain bullet-feeding device (5), the yaw shaft drive device (4), the laser radar component (3), and the NUC component (8).

2. The gimbal and dual-barrel firing mechanism of the sentry robot according to claim 1, characterized in that: The dual-gun firing mechanism (1) includes a dual-barrel assembly (13), a dual-barrel bullet path splitter assembly (14), an industrial camera assembly (15), an electronic component box (12), and a light strip device (11). The dual-barrel assembly (13) contains two symmetrically arranged barrel assemblies, and the bullet inlet of the dual-barrel assembly (13) is connected to the bullet outlet of the dual-barrel bullet path splitter assembly (14). The industrial camera assembly (15) is installed directly above the dual-barrel assembly (13) and is located in front of the dual-barrel bullet path splitter assembly (14). The electronic component box (12) is installed on top of the dual-barrel bullet path splitter assembly (14), and the electronic component box (12) integrates fire control. Submodule (125); The NUC component (8) is installed behind the dual-barrel bullet path diversion component (14); The light strip device (11) includes a light strip (111), a light strip mounting block (112) and a light strip mounting frame (113). The light strip mounting frame (113) is fixed on both sides of the dual-barrel bullet path diversion component (14). The light strip (111) is installed on the top of the light strip mounting frame (113) through the light strip mounting block (112), and the light strip (111) is located directly above the electronic component box (12); The fire control submodule (125) is electrically connected to the lower motor friction wheel device (137), the speed measuring component (135) and the ultraviolet lamp (138) of the dual-barrel component (13).

3. The gimbal and dual-barrel firing mechanism of the sentry robot according to claim 2, characterized in that: The lower barrel assembly of the dual-barrel assembly (13) includes a lower barrel plate (134), a lower barrel (139), a lower motor friction wheel device (137), a lower motor fixing plate (132), a spring steel limiting plate (133), a speed measuring component (135), a lower friction wheel protection plate (136), and an ultraviolet lamp (138); the lower barrel (139) is installed in front of the top face of the lower barrel plate (134); the lower motor friction wheel device (137) is located on one side of the lower barrel (139), and the side circumferential surface of the lower motor friction wheel device (137) extends into the lower barrel (139), and the lower motor friction wheel device (137) is installed on the lower motor fixing plate (132); the spring steel limiting plate (133) is symmetrical. The lower barrel is installed at the groove on the upper surface of the lower barrel plate (134) on the other side of the lower barrel (139); a double barrel distance fixing block (131) is installed on the top of the lower motor fixing plate (132), and the upper barrel assembly is symmetrically installed above the lower barrel assembly through the double barrel distance fixing block (131); the speed measuring component (135) is installed on the front side wall of the lower barrel (139); the lower friction wheel protection plate (136) is installed on the lower barrel plate (134), and the lower friction wheel protection plate (136) is located around the lower motor friction wheel device (137); the ultraviolet lamp (138) is installed at the bullet inlet of the lower barrel (139); the speed measuring component (135) is electrically connected to the fire control submodule (125).

4. The gimbal and dual-barrel firing mechanism of the sentry robot according to claim 2, characterized in that: The dual-barrel bullet path splitting assembly (14) includes a resin splitting assembly (141), a splitting rear fixing plate (146), upper and lower splitting outlet pipes (149), and left and right symmetrical bullet inflow pipe assemblies; the splitting rear fixing plate (146) is installed in the middle of the top surface of the lower barrel plate (134); the resin splitting assembly (141) is fixed to the front wall of the splitting rear fixing plate (146); the upper and lower splitting outlet pipes (149) are located in front of the resin splitting assembly (141), and the upper and lower bullets are split. One end of the outlet pipe (149) is connected to the resin diversion assembly (141), and the other end is connected to the upper barrel inlet and the lower barrel (139) inlet of the upper barrel assembly, respectively; the right-side projectile inflow pipe assembly includes a right-side diversion bushing clamp (142), a right-side diversion fixing plate (143), a right-side motor rotor connecting plate (144), a bushing assembly (145), a right-side motor clamping part (147), a right-side motor positioning clamp (148), and a pitch shaft right-side motor (1410); the right A side diversion fixing plate (143) is installed on the right side wall of the rear diversion fixing plate (146); the resin diversion assembly (141) is connected to the right side diversion fixing plate (143) through a right side diversion bushing clamp (142); the right side motor rotor connecting plate (144) is connected to the right side diversion fixing plate (143) through a bushing assembly (145); the right side motor clamping part (147) is installed on the right side wall of the right side motor rotor connecting plate (144), and the right side motor positioning clamp (148) is installed on the right side wall of the right side motor rotor connecting plate (144). Located on the right side of the right motor clamp (147), the right motor clamp (147) and the right motor positioning clamp (148) are connected to the right pitch shaft right motor (1410), and the right motor clamp (147), the right pitch shaft right motor (1410) and the right motor positioning clamp (148) are provided with interconnected projectile flow channels; the right pitch shaft right motor (1410) is electrically connected to the small distributor board (124) in the electronic component box (12).

5. The gimbal and dual-barrel firing mechanism of the sentry robot according to claim 1, characterized in that: The embedded ammunition magazine gimbal (2) includes a gimbal side plate (21), an ammunition magazine side cover (22), an ammunition magazine upright plate (23), a gimbal base plate (24), an ammunition magazine flow guide ramp plate (29), a gimbal electronic component mounting box (28), an environmental sensing submodule (281), a side plate fixing aluminum square tube block (26), a flange bearing (27), and a yaw shaft connecting seat (25); two gimbal side plates (21) are provided, and the gimbal side plates (21) are symmetrically installed on both sides of the gimbal base plate (24) through the side plate fixing aluminum square tube block (26); the ammunition magazine side cover (22), the ammunition magazine upright plate (23), the ammunition magazine flow guide ramp plate (29), and the two gimbal side plates (21) form a gimbal ammunition magazine; the ammunition magazine flow guide ramp plate (29) The tilt angle is 15°~20°; the lidar assembly (3) is installed on the front top surface of the gimbal base plate (24); the NUC power supply assembly (6) is installed on the gimbal side plate (21); the gimbal electronic component mounting box (28) is installed on the bottom surface of the missile compartment guide ramp plate (29); the flange bearing (27) is horizontally installed at the center of the gimbal base plate (24), and the yaw shaft connecting seat (25) is connected below the flange bearing (27); the environmental perception submodule (281) is installed in the gimbal electronic component mounting box (28), and the environmental perception submodule (281) is electrically connected to the radar (31) of the lidar assembly (3) and the industrial camera (152) of the industrial camera assembly (15).

6. The gimbal and dual-barrel firing mechanism of the sentry robot according to claim 1, characterized in that: The yaw shaft transmission device (4) includes a GM6020 motor (48), a motor Y-type mounting plate (49), a coupling shaft (410), a triangular coupling (47), a small pulley (412), a large pulley (41), a yaw shaft synchronous belt (414), a crossed roller bearing (43), a motion control submodule (282), an inner retaining ring (42) of the crossed roller bearing, and an outer retaining ring (44) of the crossed roller bearing. The GM6020 motor (48) is mounted on the bottom left side of the motor Y-type mounting plate (49). The bottom end of the coupling shaft (410) is connected to the rotor of the GM6020 motor (48) through the triangular coupling (47), and the top end of the coupling shaft (410) passes through the motor Y-type... The mounting plate (49) is connected to the small pulley (412); the small pulley (412) is connected to the large pulley (41) via the yaw shaft synchronous belt (414), and the top surface of the large pulley (41) is connected to the yaw shaft connecting seat (25); the cross roller bearing (43) is installed in the Y-shaped fork on the right side of the motor Y-type mounting plate (49); the inner retaining ring (42) of the cross roller bearing connects the top of the cross roller bearing (43) to the bottom surface of the large pulley (41), and the outer retaining ring (44) of the cross roller bearing is installed on the bottom surface of the motor Y-type mounting plate (49); the motion control submodule (282) is integrated in the gimbal electronic component mounting box (28), and the motion control submodule (282) is electrically connected to the intelligent control system (9).

7. The gimbal and dual-barrel firing mechanism of the sentry robot according to claim 1, characterized in that: The double-chain feeding device (5) includes an M3508 motor (51), a feeding disc base plate (58), a feeding disc cover (52), a feeding tooth drive shaft (55), a feeding pulley (57), a motor ESC (56), a feeding scheduling submodule (59), a projectile layer plate (53), feeding teeth (54), and a projectile balance sensor (231); two M3508 motors (51) are provided, and the M3508 motors (51) are installed side by side on the feeding disc base plate. (58) Top surface, the rotor of the M3508 motor (51) passes through the bottom plate (58) of the feed disc and connects to the feed pulley (57); the feed disc cover (52) is provided in two parts, the feed disc cover (52) is symmetrically distributed on both sides of the M3508 motor (51), the feed disc cover (52) is cylindrical and installed on the bottom plate (58) of the feed disc, the top opening of the feed disc cover (52) is located directly below the bullet compartment guide ramp (29); the bullet layer plate (5 3) Located in the middle of the inner part of the cartridge plate cover (52), the cartridge plate (53) has a small hole with a diameter slightly larger than the cartridge; the pawl (54) is located on the top surface inside the cartridge plate cover (52), and the pawl (54) is connected to the top of the pawl drive shaft (55). The bottom end of the pawl drive shaft (55) passes through the cartridge plate base plate (58), and the bottom end of the pawl drive shaft (55) is connected to the cartridge pulley (57) via a synchronous belt; the cartridge plate cover (52) The side wall is provided with a projectile outlet, which is connected to a small hole on the projectile layer plate (53) through a projectile outlet pipe; the motor ESC (56) is installed on the bottom plate (58) of the feed plate, and the motor ESC (56) is electrically connected to the M3508 motor (51); the ammunition supply scheduling submodule (59) is electrically connected to the motor ESC (56) and the projectile balance sensor (231) respectively, and the projectile balance sensor (231) is installed on the inside of the ammunition compartment upright plate (23).

8. The gimbal and dual-barrel firing mechanism of the sentry robot according to claim 1, characterized in that: The intelligent control system (9) includes a main control module (91), a data fusion module (92), an instruction generation module (93), a communication module (94), a control box (95), and a bracket (96); the main control module (91), the data fusion module (92), the instruction generation module (93), and the communication module (94) are integrated in the control box (95); the control box (95) is detachably installed behind the gimbal base plate (24) of the embedded bomb bay gimbal (2) via the bracket (96); the data fusion module (92) is electrically connected to the environmental perception submodule (281).

9. The gimbal and dual-barrel firing mechanism of the sentry robot according to claim 1, characterized in that: The NUC assembly (8) includes a NUC mini computer (81), a NUC mounting bracket (83), a mounting bracket block (84), and a NUC protective shell (82). There are two mounting bracket blocks (84), which are detachably mounted to the lower barrel plate (134) and the upper barrel plate of the upper barrel assembly respectively by bolts. The NUC mounting bracket (83) is fixed on the mounting bracket block (84), and the NUC mounting bracket (83) adopts a hollow design. The NUC mini computer (81) is installed inside the NUC mounting bracket (83). The NUC protective shell (82) is detachably mounted on the NUC mounting bracket (83), and the NUC protective shell (82) covers the outside of the NUC mini computer (81). The NUC mini computer (81) is electrically connected to the central control board (123) of the radar (31), the NUC power supply assembly (6), the industrial camera (152), the electronic component box (12), and the intelligent control system (9).

10. The gimbal and dual-barrel firing mechanism of the sentry robot according to claim 1, characterized in that: The NUC power supply component (6) includes a step-down integrated circuit board (61), a power supply module lower board (62), a power supply module outer cover (63), and a current sensor. The power supply module lower board (62) is made of insulating material and is mounted on the gimbal side plate (21). The step-down integrated circuit board (61) is fixed on the power supply module lower board (62) and integrates a DC-DC step-down chip and a filter circuit. The power supply module outer cover (63) is mounted on the power supply module lower board (62) and covers the outside of the step-down integrated circuit board (61). The cover of the power supply module outer cover (63) is provided with heat dissipation holes. The current sensor is integrated on the step-down integrated circuit board (61).

Images