A six-legged high-mobility all-terrain armed combat robot

Abstract

The present application relates to the technical field of military equipment, in particular to a six-legged high-maneuverability all-terrain armed combat robot, comprising a six-legged robot dog body, a striking target automatic identification module, a machine gun quick replacement and convenient taking and placing mechanism, a two-degree-of-freedom automatic alignment mechanism, and a bullet automatic reloading module; the striking target automatic identification module and the two-degree-of-freedom automatic alignment mechanism are respectively arranged on the top of the front side and the middle-rear side of the six-legged robot dog body; the bullet automatic reloading module is mechanically connected with the two-degree-of-freedom automatic alignment mechanism, and the bullet automatic reloading module is connected with the gun body through the machine gun quick replacement and convenient taking and placing mechanism. The present application has the characteristics of strong complex terrain adaptability and excellent maneuverability, and has high automation degree, rapid combat response, can complete target detection, locking, aiming, and has short identification response time, high aiming accuracy, greatly improves the response speed and intelligent level of unmanned combat.

Description

Technical Field

[0001] This invention belongs to the technical field of military equipment, specifically relating to a six-legged, highly mobile, all-terrain armed combat robot. Background Technology

[0002] As modern warfare shifts towards intelligence and unmanned operations, ground combat robots have become core equipment for improving combat effectiveness and reducing personnel casualties. Currently, the mainstream ground combat robots are mainly wheeled and tracked. These types of equipment have high mobility in flat terrain such as plains and roads, but in complex obstacle environments such as rugged mountains, collapsed ruins, and dense jungles, they generally suffer from poor mobility, easy jamming, and poor posture stability, making it difficult to meet the needs of actual combat.

[0003] While existing quadrupedal bionic robotic dogs are superior to wheeled and tracked equipment in adaptability to complex terrain, most products suffer from the following drawbacks: First, their mobility and load-bearing capacity are unbalanced, making them unable to carry heavy weapons and supporting equipment; second, their armed combat functions are poorly integrated, with most only possessing basic shooting capabilities and lacking integrated capabilities such as automatic target identification, rapid weapon replacement, precise automatic aiming, and large-capacity ammunition replenishment; third, key combat operations rely on manual intervention, such as target locking, weapon replacement, and ammunition replenishment, all of which require remote control, resulting in delayed responses and difficulty in adapting to rapidly changing battlefield situations; and fourth, their aiming mechanisms lack sufficient freedom, and the aiming flexibility and accuracy cannot meet the needs of engaging flexible targets. Summary of the Invention

[0004] In view of the defects and shortcomings of the existing combat robots, the purpose of this invention is to propose an armed combat robot that integrates a six-legged robot dog as a highly mobile all-terrain walking chassis, automatic target identification, rapid machine gun replacement and convenient loading and unloading, dual-degree-of-freedom automatic alignment, automatic loading and unloading, etc. This invention breaks through the key technical bottlenecks of traversing complex terrains such as mountains, ruins, and jungles, autonomous combat, and continuous combat, thereby improving the combat effectiveness of unmanned ground combat equipment.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A six-legged, highly mobile, all-terrain armed combat robot includes a six-legged robot dog body, an automatic target identification mechanism, a machine gun quick-change and convenient loading and unloading mechanism, a two-degree-of-freedom automatic alignment mechanism, and an automatic ammunition replenishment module. The automatic target identification module and the two-degree-of-freedom automatic alignment mechanism are respectively located on the top of the front and middle-rear sides of the six-legged robot dog body. The automatic ammunition replenishment module is mechanically connected to the two-degree-of-freedom automatic alignment mechanism, and the automatic ammunition replenishment module is connected to the machine gun body through the machine gun quick-change and convenient loading and unloading mechanism.

[0007] Furthermore, the six-legged robot dog body includes a body frame and six bionic legs. Each pair of bionic legs is arranged symmetrically on the left and right sides of the body frame, so that three bionic legs are distributed on the left and right sides of the body frame, and the three bionic legs on the same side are in a straight line. An integrated control compartment is set on the front side of the body frame, and a battery compartment is set on the left side of the front side of the body frame. The controller is set in the integrated control compartment and is electrically connected to the battery placed in the battery compartment.

[0008] Furthermore, the automatic target identification module includes an area array lidar device, a high-definition visible light camera, an infrared thermal imaging sensor, and a data processing unit. The area array lidar device is installed on the front top of the fuselage frame, the high-definition visible light camera is installed on the front surface of the fuselage frame, the infrared thermal imaging sensor is installed on the right side of the dual-degree-of-freedom automatic alignment mechanism, and the data processing unit is located in the cabin on the rear side of the fuselage frame. The area array lidar device, the high-definition visible light camera, and the infrared thermal imaging sensor are all electrically connected to the data processing unit.

[0009] Furthermore, the dual-degree-of-freedom automatic alignment mechanism includes a pitch mechanism and a rotation mechanism. The rotation mechanism includes a rotatable gimbal mounted on the rear side of the fuselage frame and a rotation drive assembly for driving the gimbal to rotate in the horizontal plane. The pitch mechanism includes a protective cylinder mounted on the gimbal. Inside the protective cylinder, a pitch shaft extending in the horizontal direction is rotatably mounted via bearings, and a pitch drive assembly for driving the pitch shaft to rotate. The two ends of the pitch shaft are respectively connected to corresponding end caps located at both ends of the protective cylinder so that the pitch drive assembly and the pitch shaft are in a sealed compartment.

[0010] Furthermore, the machine gun quick-change and convenient loading / unloading mechanism includes a mounting base, which is located above the automatic ammunition replenishment module. The mounting base has a through-hole running vertically, into which the lower end of the gun handle is inserted. An electromagnetic lock is installed on the inner wall of the through-hole. A second waterproof power connector, which is compatible with the first waterproof power connector on the upper side of the automatic ammunition replenishment module, is provided on the lower side of the mounting base. The electromagnetic lock is electrically connected to the aforementioned second waterproof power connector, and an electromagnetic unlocking button located on the mounting base is provided on the circuit between the two.

[0011] Furthermore, a tapered locating pin is provided above the automatic bullet replenishment module, and a locating pin hole is provided on the lower side of the mounting base to engage with the aforementioned tapered locating pin.

[0012] Furthermore, the automatic ammunition replenishment module includes an ammunition storage compartment and a clearance hole on its top. The ammunition storage compartment is mechanically connected to a dual-degree-of-freedom automatic alignment mechanism. Inside the ammunition storage compartment, there are guide blocks and guide plates extending in the vertical direction. The guide blocks are located on the left side of the guide plates, and the upper ends of both pass through the clearance hole on the top of the ammunition storage compartment and the machine gun quick-change and convenient loading and unloading mechanism in sequence before connecting to the gun body.

[0013] Furthermore, the guide block is an axially hollow part with an opening on its left side away from the guide plate. The guide block has a feeding port on its side distributed in the front-back direction. The guide block has a tail limiting groove extending in the up-down direction on its right side near the guide plate. The guide plate has a head limiting groove extending in the up-down direction. A pusher head that can move in the left-right direction is provided on the left side of the guide block.

[0014] Furthermore, the interior of the ammunition storage compartment is provided with a ramped guide surface extending in the front-to-back direction, and the end of the ramped guide surface is close to the guide block; the bottom wall inside the ammunition storage compartment is provided with a guide block, and the guide block is located between the end of the ramped guide surface and the guide block, and the guide block is provided with a guide surface corresponding to the ammunition feeding port.

[0015] Furthermore, the bottom wall inside the ammunition storage compartment is provided with positioning grooves extending in the left and right directions, and the positioning grooves correspond to the tail limiting grooves and the head limiting grooves in the up and down directions.

[0016] By employing the aforementioned technical solution, the six-legged, highly mobile, all-terrain armed combat robot of the present invention has the following beneficial effects:

[0017] 1. Strong adaptability to complex terrain and excellent mobility: The three-joint bionic six-legged structure breaks through the terrain limitations of wheeled and tracked robots, enabling stable passage in complex environments such as mountains, ruins, and jungles. It has outstanding obstacle crossing and climbing capabilities, while also taking into account lightweight and high load capacity, providing reliable support for the integration of armed modules.

[0018] 2. High degree of automation and rapid combat response: It integrates multi-sensor recognition and dual-degree-of-freedom automatic alignment technology, which can complete target detection, locking and aiming. The recognition response time is short and the aiming accuracy is high, which greatly improves the response speed and intelligence level of unmanned combat.

[0019] 3. Convenient weapon operation and strong continuous combat capability: The quick-release mechanism enables rapid replacement of machine guns, and the automatic ammunition replenishment function enhances combat continuity and continuous combat capability.

[0020] 4. High accuracy and significant combat effectiveness: The dual-degree-of-freedom alignment mechanism provides precise positioning, and combined with the target position information output by the automatic identification module, it can achieve precise strikes against multiple targets, with combat effectiveness significantly superior to existing products;

[0021] 5. High integration and good scenario adaptability: It integrates core functions such as walking, identification, attack, weapon switching and ammunition replenishment. It has a compact structure and high reliability, and can be adapted to various scenarios such as military operations, border patrols, counter-terrorism and stability maintenance, with broad application prospects.

[0022] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of a six-legged, highly mobile, all-terrain armed combat robot according to the present invention.

[0024] Figure 2 yes Figure 1 A schematic diagram of the six-legged robot dog.

[0025] Figure 3A This is an isometric view of the bionic legs in the body of the six-legged robot dog.

[0026] Figure 3B This is a frontal view of the bionic legs in the body of the six-legged robotic dog.

[0027] Figure 3C yes Figure 3B Schematic diagram of the cross section of AA.

[0028] Figure 4 yes Figure 1 A schematic diagram of the automatic target identification module and the dual-degree-of-freedom automatic alignment mechanism.

[0029] Figure 5 yes Figure 1 A schematic diagram of the quick-change and convenient loading / unloading mechanism for the medium machine gun.

[0030] Figure 6A yes Figure 1 Axonometric view of the neutron bomb automatic refueling module.

[0031] Figure 6B yes Figure 1 A cross-sectional schematic diagram of the neutron bomb automatic refueling module.

[0032] Figure 7 This is a schematic diagram showing the positions of the guide block and guide plate in the automatic bullet replenishment module.

[0033] Figure 8 This is an isometric view of the ammunition compartment in the automatic ammunition replenishment module after the left side plate has been removed.

[0034] The system includes: 1. Hexa-legged robot dog body; 2. Automatic target recognition module; 3. Machine gun quick-change and convenient loading / unloading mechanism; 4. Dual-degree-of-freedom automatic alignment mechanism; 5. Automatic ammunition reloading module; 1-1. Body frame; 1-2. Bionic legs; 1-3. Joint drive module; 1-4. Shock absorption module; 1-5. Integrated control cabin; 1-6. Battery compartment; 1-7. Hip joint; 1-8. Knee joint; 1-9. Ankle joint; 1-10. Torque sensor; 1-11. First absolute position encoder; 2-1. Area array lidar device; 2-2. High-definition visible light camera; 2-3. Infrared thermal imaging sensor; 2-4. Data processing unit. 3-1. Gun body; 3-2. Conical positioning pin; 3-3. Electromagnetic lock; 3-4. Waterproof power supply connector; 3-5. Electromagnetic unlocking button; 3-6. Mounting base; 3-61. Plug-in hole; 4-1. Pitch mechanism; 4-2. Rotation mechanism; 5-1. Ammunition storage compartment; 5-11. Clearance hole; 5-12. Sloping guide surface; 5-13. Positioning groove; 5-21. Guide block; 5-211. Opening; 5-212. Ammunition feed port; 5-213. Conical surface; 5-22. Guide plate; 5-221. Head limiting groove; 5-3. Ammunition replenishment port; 5-4. Detection and control unit; 5-5. Bullet pusher; 5-6. Guide block; 5-61. Guide surface. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first or I," "second or II," "third or III," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first or I," "second or II," or "third or III" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] Please see Figure 1 This invention discloses a hexapod highly mobile all-terrain armed combat robot, comprising a hexapod robot body 1, an automatic target identification module 2, a machine gun quick-change and convenient loading / unloading mechanism 3, a dual-degree-of-freedom automatic alignment mechanism 4, and an automatic ammunition replenishment module 5. For ease of understanding, this application defines the width direction of the hexapod robot body as the left-right direction, the length direction as the front-back direction, and the thickness direction as the top-bottom direction.

[0040] Please also refer to Figure 2 The six-legged robot dog body 1 serves as the walking chassis for a highly mobile all-terrain armed combat robot. Specifically, it includes a body frame 1-1 and six bionic legs 1-2. Each pair of bionic legs 1-2 is arranged symmetrically on the left and right sides of the body frame 1-1, so that three bionic legs 1-2 are distributed on the left and right sides of the body frame 1-1, and the three bionic legs 1-2 on the same side are in a straight line. An integrated control cabin 1-5 is set on the front side of the body frame 1-1, and a battery compartment 1-6 is set on the left side of the front side of the body frame 1-1. A controller is set in the integrated control cabin 1-5, and the controller is electrically connected to the battery placed in the battery compartment 1-6.

[0041] Please also refer to Figure 3A , Figure 3B and Figure 3CEach bionic leg 1-2 adopts a three-joint bionic configuration of "hip joint-knee joint-ankle joint", including hip joint 1-7, knee joint 1-8, and ankle joint 1-9 distributed from top to bottom. The first leg is located between hip joint 1-7 and knee joint 1-8, and the second leg is located between knee joint 1-8 and ankle joint 1-9. Hip joint 1-7 is responsible for the forward and backward swing of the leg, and knee joint 1-8 and ankle joint 1-9 work together to realize the vertical extension and retraction of the leg. A joint drive module 1-3 is provided at hip joint 1-7. The joint drive module 1-3 contains three joint module drive components. The three joint module drive components realize the robot's "forward and backward", "left and right walking", and "up and down squatting" actions, respectively. The first joint module drive component 1-31 responsible for the robot's left and right walking is fixed to the body frame 1-1. The output shaft of the first joint module drive component 1-31 responsible for the robot's left and right walking is connected to the output shaft of the first joint module drive component 1-31 responsible for the robot's up and down squatting. The second joint module drive component 1-32 is connected, and the second joint module drive component 1-32 responsible for the robot's squatting is located in front of the first joint module drive component 1-31 responsible for the robot's left and right walking. The third joint module drive component 1-33 responsible for the robot's forward and backward movement is located to the left of the second joint module drive component 1-32 responsible for the robot's squatting, and the housings of the two joint module drive components are connected. The output shaft of the second joint module drive component 1-32 responsible for the robot's squatting is connected to the knee joint 1-8 through a tendon cable. The output shaft of the third joint module drive component 1-33 responsible for the robot's forward and backward movement is connected to the upper end of the first leg. Through the rotational motion output by the aforementioned three joint module drive components and the coordinated cooperation of the hip joint 1-7, knee joint 1-8, and ankle joint 1-9, the six-legged robot dog body 1 can finally achieve left and right walking, squatting, forward and backward movement.

[0042] In this application, the first joint module drive component 1-31, the second joint module drive component 1-32, and the third joint module drive component 1-33 all adopt high-precision servo motors, and the high-precision servo motors integrate a first absolute position encoder 1-11. At the same time, a torque sensor 1-10 is installed on the connection between the output shaft of the third joint module drive component 1-33 and the upper end of the first leg. The first joint module drive component 1-31, the second joint module drive component 1-32, and the third joint module drive component 1-33 are all electrically connected to the controller, and are used to drive the bionic leg 1-2 to perform corresponding actions after receiving the instructions output by the controller. The aforementioned torque sensor 1-10 and the first absolute encoder 1-11 are both electrically connected to the controller, and are used to feed back the joint force data and posture data detected during the movement of the bionic leg 1-2 to the controller to realize closed-loop control, which is conducive to the precise control of joint movements.

[0043] The fuselage frame 1-1 described in this application adopts a hybrid molding structure of aviation aluminum alloy and carbon fiber composite material, which takes into account both lightweight and high load capacity, and can stably carry combat components such as machine guns and bomb bays. At the same time, a shock-absorbing buffer module 1-4 is installed between the joint drive module 1-3 and the fuselage frame 1-1. Specifically, the shock-absorbing buffer module 1-4 can adopt a combined buffer structure of rubber shock-absorbing pads and coil springs, which can effectively offset the impact of ground bumps on shooting accuracy and equipment operation.

[0044] Please also refer to Figure 1 and Figure 4 The front of the six-legged robot dog body 1 is equipped with an automatic target identification module 2. Specifically, the automatic target identification module includes an array lidar device 2-1, a high-definition visible light camera 2-2, an infrared thermal imaging sensor 2-3, and a data processing unit 2-4, forming a multi-dimensional perception system of "visible light + infrared + laser". The data collected by the three are sent to the data processing unit for fusion processing, avoiding the blind spots of single sensor detection and improving the recognition and anti-interference capabilities. A laser radar device 2-1 is installed at the top front of the fuselage frame 1-1 and is responsible for target ranging and terrain modeling. A high-definition visible light camera 2-2 is installed on the front surface of the fuselage frame 1-1 and is used for target image acquisition in well-lit environments. An infrared thermal imaging sensor 2-3 is installed on the right side of the dual-degree-of-freedom automatic alignment mechanism 4 and is used for target heat source detection in low-visibility environments. All-weather target detection is achieved through the coordinated operation of the aforementioned three types of sensors. The data processing unit 2-4 is located in the cabin at the rear of the fuselage frame 1-1. The aforementioned laser radar device 2-1, high-definition visible light camera 2-2, and infrared thermal imaging sensor 2-3 are all electrically connected to the data processing unit 2-4 and are used to upload various types of detected data to the data processing unit 2-4 for processing, so as to achieve stable output of target position information. The data processing unit 2-4 is communicatively connected to the controller installed in the integrated control cabin 1-5 for data interaction.

[0045] Please also refer to Figure 1 and Figure 4A dual-degree-of-freedom automatic alignment mechanism 4 is installed on the upper middle and rear side of the six-legged robot dog body 1. The dual-degree-of-freedom automatic alignment mechanism is used to achieve precise rotation adjustment in both the up and down (pitch) and left and right (rotation) directions. Based on the target position information output by the automatic target identification module, the machine gun attitude is adjusted to achieve rapid and accurate target alignment. Specifically, the dual-degree-of-freedom automatic alignment mechanism includes a pitch mechanism 4-1 and a rotation mechanism 4-2. The rotation mechanism 4-2 includes a rotary gimbal 4-21 rotatably mounted on the rear side of the body frame 1-1, and a rotation drive assembly for driving the rotary gimbal 4-21 to rotate on the horizontal plane (which can be a high-precision servo motor with a harmonic reducer, and the high-precision servo motor integrates a second absolute position encoder). The pitch mechanism 4-1 includes a protective cylinder 4-11 mounted on the rotary gimbal. Inside the protective cylinder 4-11, a pitch shaft extending horizontally is rotatably mounted via bearings, and a pitch drive assembly for driving the pitch shaft to rotate (which can be a high-precision servo motor with a planetary reducer, and the high-precision servo motor also integrates a second absolute position encoder). The two ends of the pitch shaft are respectively connected to the... The corresponding end caps 4-12 at both ends of the protective cylinder 4-11 are connected. The two end caps 4-12 keep the pitch drive assembly and pitch shaft in a sealed compartment, thereby preventing debris from entering the protective cylinder and affecting the working mode of the pitch drive assembly and pitch shaft when the robot is fighting in the external environment. At the same time, the end cap 4-12 on the left is connected to the automatic bullet refill module 5, and the end cap 4-12 on the right is connected to the infrared thermal imaging sensor 2-3 (of course, in other embodiments of the present invention, the positions of the infrared thermal imaging sensor 2-3 and the automatic bullet refill module 5 can be interchanged). When the pitch drive assembly drives the pitch shaft to rotate, the infrared thermal imaging sensor 2-3 and the gun body 3-1 loaded on the automatic bullet refill module 5 maintain an angular synchronization state, which helps to improve aiming accuracy. The alignment process in this application adopts the concept of "position feedback-closed-loop adjustment". The second absolute position encoder on the pitch drive assembly and the second absolute position encoder on the slewing drive assembly are both electrically connected to the data processing unit 2-4. They are used to upload the attitude data of the gun body 3-1 in the current state to the data processing unit 2-4. After comparing the aforementioned attitude data and target position information, the data processing unit 2-4 outputs control commands to the pitch drive assembly and the slewing drive assembly to perform corresponding actions, thereby realizing the rapid alignment of the gun body 3-1.

[0046] Please also refer to Figure 1 and Figure 5The machine gun quick-change and convenient loading and unloading mechanism 3 includes a mounting base 3-6, which is located above the automatic bullet replenishment module 5. The mounting base 3-6 has a through-hole 3-61 extending vertically, through which the lower end of the grip of the gun body 3-1 is inserted. An electromagnetic lock 3-3 is provided on the inner wall of the through-hole 3-61. A second waterproof power connector is provided on the lower side of the mounting base 3-6, which is compatible with the first waterproof power connector 3-4 on the upper side of the automatic bullet replenishment module 5. The electromagnetic lock 3-3 is electrically connected to the aforementioned second waterproof power connector, and an electromagnetic unlocking button 3-5 is provided on the circuit between the two on the mounting base 3-6. When the combat robot needs to operate, the lower end of the grip of the gun body 3-1 (e.g., a submachine gun) is inserted into the insertion hole 3-61 of the mounting base 3-6, and the gun body is locked in place by the electromagnetic lock 3-3. When the gun body 3-1 needs to be replaced, the electromagnetic unlocking button 3-5 is pressed, the electromagnetic lock 3-3 is de-energized, and the locking state of the lower end of the grip of the gun body 3-1 is released, allowing the gun body 3-1 to be easily removed. Furthermore, a conical positioning pin 3-2 is provided above the automatic bullet replenishment module 5, and a positioning pin hole is provided on the lower side of the mounting base 3-6 to engage with the aforementioned conical positioning pin 3-2. Of course, in other embodiments of the present invention, the conical positioning pin 3-2 may be located on the lower side of the mounting base 3-6, and the positioning pin hole may be located above the automatic bullet replenishment module 5.

[0047] Please also refer to Figure 1 , Figure 5 and Figure 6A , Figure 6B The automatic ammunition replenishment module includes an ammunition storage compartment 5-1, which is mechanically connected to an end cap 4-12 located on the left side of the protective cylinder 4-11. A conical positioning pin 3-2 and a first waterproof power supply connector 3-4 are located above the ammunition storage compartment 5-1. A mounting base 3-6 is connected to the upper part of the ammunition storage compartment 5-1 through the engagement of the conical positioning pin 3-2 and the positioning pin hole, and then supplies power to the electromagnetic lock 3-3 through the conduction of the first waterproof power supply connector 3-4 and the second waterproof power supply connector. The internal structure of the -1 features a guide block 5-21 and a guide plate 5-22 extending vertically. The guide block 5-21 is located to the left of the guide plate 5-22, and their upper ends pass sequentially through the clearance hole 5-11 on the top of the ammunition compartment 5-1 and the insertion hole 3-61 of the mounting base 3-6. When the grip of the gun body 3-1 is inserted into the insertion hole 3-61 on the mounting base 3-6, the upper ends of the guide block 5-21 and the guide plate 5-22 enter the grip of the gun body 4-1. Please also refer to... Figure 7The guide block 5-21 is an axially hollow part with an opening 5-211 on its left side away from the guide plate 5-22. The guide block 5-21 has a feeding port 5-212 on its side distributed in the front-back direction. The guide block 5-21 has a tail limiting groove extending in the vertical direction on its right side near the guide plate 5-22, and the guide plate 5-22 has a head limiting groove 5-221 extending in the vertical direction. The guide block 5-21 has a pusher head 5-5 that can move in the left-right direction on its left side. When the bullet is fed into the guide block 5-21 through the feeding port 5-212, according to the control command output by the controller, the pusher head 5-5 moves to the right and pushes the bullet to the right through the opening 5-211, so that the tail of the bullet is placed in the tail limiting groove and its head is placed in the head limiting groove 5-221. Then the pusher head 5-5 returns to the left, and at the same time, the feeding mechanism that moves in the vertical direction drives the bullet to enter the gun body 3-1 from top to bottom.

[0048] Furthermore, the interior of the ammunition storage compartment 5-1 is provided with a ramp guide surface 5-12 extending in the front-to-back direction, and the end (i.e., the lowest point) of the ramp guide surface 5-12 is close to the guide block 5-21. Please also refer to [the relevant documentation]. Figure 8 The bottom wall inside the ammunition storage compartment 5-1 is provided with a guide block 5-6, which is located between the end of the inclined guide surface 5-12 and the guide block 5-21. The guide block 5-6 is provided with a guide surface 5-61 corresponding to the ammunition feeding port. With the help of the ammunition replenishment port 5-3 at the bottom of the ammunition storage compartment 5-1, the bullet can be replenished to the inclined guide surface 5-12 by a robotic arm. Under the action of gravity, the bullet moves along the inclined guide surface 5-12, then falls onto the guide surface 5-61, and then rolls into the interior of the guide block 5-21 through the ammunition feeding port 5-212. Specifically, in this embodiment, six sloping guide surfaces 5-12 are symmetrically arranged on the front and rear sides of the ammunition storage compartment 5-1, with the three sloping guide surfaces 5-12 on the same side distributed from top to bottom. To avoid interference between bullets, six feeding displacement mechanisms electrically connected to the controller can be installed inside the ammunition storage compartment 5-1. The moving part of the feeding displacement mechanism (e.g., a synchronous belt) serves as the sloping guide surface 5-12. Several contoured grooves are provided on the feeding displacement mechanism, spaced apart along the length of the sloping guide surface 5-12 and conforming to the shape of the bullet's bottom edge. Bullets fed in through the replenishment port 5-3 are placed in the contoured grooves. According to the control commands output by the controller, the six feeding displacement mechanisms sequentially feed several bullets one by one to the guide surface 5-61 and the feeding port 5-212. In addition, when the number of sloping feeding surfaces 5-12 is large, the position of the replenishment port 5-3 can be adjusted. For example, the left side of the ammunition storage compartment 5-1 can be designed as an openable door structure to quickly replenish bullets. In addition, to avoid damage from bullets, rubber pads can be installed on the contour groove of the feeding displacement mechanism and the guide surface of the guide block.

[0049] For further details, please refer to Figure 8The bottom wall inside the ammunition storage compartment 5-1 is provided with a positioning groove 5-13 extending in the left and right direction (for example, a positioning groove with a V-shaped cross section). The positioning groove 5-13 corresponds to the tail limiting groove and the head limiting groove in the vertical direction. The bullet entering through the feeding port 5-212 can be quickly positioned at the positioning groove 5-13, which makes it easy for the bullet pusher 5-5 to accurately push the bullet to the tail limiting groove and the head limiting groove, which is conducive to rapid bullet feeding.

[0050] Furthermore, the two sides of the tail limiting groove distributed along the front-to-back direction are both conical surfaces 5-213, which facilitates the pushing action of the projectile head 5-5.

[0051] Furthermore, the ammunition storage compartment 5-1 is equipped with a detection sensor 5-4 for detecting the number of bullets on the inclined guide surface 5-12, and the detection sensor is electrically connected to the controller.

[0052] The above description is merely a preferred embodiment of the present invention. Any simple modifications, equivalent changes, and alterations made by those skilled in the art to the above embodiments without departing from the scope of the present invention and based on the technical essence of the present invention shall still fall within the scope of the present invention.

Claims

1. A hexapod highly mobile all-terrain armed combat robot, characterized in that: It includes a six-legged robot dog body (1), an automatic target identification module (2), a machine gun quick change and convenient loading and unloading mechanism (3), a dual-degree-of-freedom automatic alignment mechanism (4), and an automatic bullet replenishment module (5). The target identification module (2) and the dual-degree-of-freedom automatic alignment mechanism (4) are respectively located on the top of the front and middle-rear sides of the six-legged robot dog body (1); The automatic bullet replenishment module (5) is mechanically connected to the dual-degree-of-freedom automatic alignment mechanism (4), and the automatic bullet replenishment module (5) is connected to the gun body (3-1) through the machine gun quick change and convenient loading and unloading mechanism (3); The automatic ammunition replenishment module (5) includes an ammunition storage compartment (5-1) and a clearance hole (5-11) on its top. The ammunition storage compartment (5-1) is mechanically connected to the dual-degree-of-freedom automatic alignment mechanism (4). Inside the ammunition storage compartment (5-1), there are guide blocks (5-21) and guide plates (5-22) extending in the vertical direction. The guide blocks (5-21) are located to the left of the guide plates (5-22), and their upper ends pass through the clearance hole (5-11) on the top of the ammunition storage compartment (5-1) and the machine gun quick change and convenient loading and unloading mechanism (3) in sequence before connecting to the gun body (3-1). The guide block (5-21) is an axially hollow part with an opening (5-211) on its left side away from the guide plate (5-22). The guide block (5-21) has a feeding port (5-212) on its side distributed in the front-back direction. The guide block (5-21) has a tail limiting groove extending in the vertical direction on its right side near the guide plate (5-22). The guide plate (5-22) has a head limiting groove extending in the vertical direction (5-221). The guide block (5-21) has a pusher head (5-5) that can move in the left-right direction on its left side. The ammunition storage compartment (5-1) has an internal inclined guide surface (5-12) extending in the front-to-back direction, with the end of the inclined guide surface (5-12) close to the guide block (5-21); the bottom wall inside the ammunition storage compartment (5-1) has a guide block (5-6), which is located between the end of the inclined guide surface (5-12) and the guide block (5-21), and the guide block (5-6) has a guide surface (5-61) corresponding to the ammunition feeding port (5-212); the bottom wall inside the ammunition storage compartment (5-1) also has a positioning groove (5-13) extending in the left-to-right direction, and the positioning groove (5-13) corresponds to the tail limiting groove and the head limiting groove (5-221) in the vertical direction.

2. The six-legged, highly mobile, all-terrain armed combat robot according to claim 1, characterized in that: The six-legged robot dog body (1) includes a body frame (1-1) and six bionic legs (1-2). Each pair of bionic legs (1-2) are arranged symmetrically on the left and right sides of the body frame (1-1), so that three bionic legs (1-2) are distributed on the left and right sides of the body frame (1-1), and the three bionic legs (1-2) on the same side are in a straight line. An integrated control compartment (1-5) is set on the front side of the body frame (1-1), and a battery compartment (1-6) is set on the left side of the front side of the body frame (1-1). A controller is set in the integrated control compartment (1-5), and the controller is electrically connected to the battery placed in the battery compartment (1-6).

3. The six-legged, highly mobile, all-terrain armed combat robot according to claim 2, characterized in that: The automatic target identification module (2) includes an array laser radar device (2-1), a high-definition visible light camera (2-2), an infrared thermal imaging sensor (2-3), and a data processing unit (2-4). The array laser radar device (2-1) is installed on the front top of the fuselage frame (1-1), the high-definition visible light camera (2-2) is installed on the front surface of the fuselage frame (1-1), the infrared thermal imaging sensor (2-3) is installed on the right side of the dual-degree-of-freedom automatic alignment mechanism (4), and the data processing unit (2-4) is located in the cabin on the rear side of the fuselage frame (1-1). The array laser radar device (2-1), the high-definition visible light camera (2-2), and the infrared thermal imaging sensor (2-3) are all electrically connected to the data processing unit (2-4).

4. A hexapod highly mobile all-terrain armed combat robot according to claim 2, characterized in that: The dual-degree-of-freedom automatic alignment mechanism (4) includes a pitch mechanism (4-1) and a rotation mechanism (4-2). The rotation mechanism (4-2) includes a rotation gimbal (4-21) rotatably mounted on the rear side of the fuselage frame (1-1) and a rotation drive assembly for driving the rotation gimbal (4-21) to rotate on the horizontal plane. The pitch mechanism (4-1) includes a protective cylinder (4-11) mounted on the rotation gimbal (4-21). Inside the protective cylinder (4-11), a pitch shaft extending in the horizontal direction is rotatably mounted via bearings, and a pitch drive assembly for driving the pitch shaft to rotate. The two ends of the pitch shaft are respectively connected to the corresponding end caps (4-12) located at both ends of the protective cylinder (4-11) so that the pitch drive assembly and the pitch shaft are in a sealed compartment.

5. A hexapod highly mobile all-terrain armed combat robot according to claim 1, characterized in that: The machine gun quick-change and convenient loading and unloading mechanism (3) includes a mounting base (3-6). The mounting base (3-6) is located above the automatic bullet replenishment module (5). The mounting base (3-6) has a through-hole (3-61) in the vertical direction. The through-hole (3-61) is for the lower end of the grip of the gun body (3-1) to be inserted. An electromagnetic lock (3-3) is provided on the inner wall of the through-hole (3-61). A second waterproof power supply connector is provided on the lower side of the mounting base (3-6) and is adapted to the first waterproof power supply connector (3-4) on the upper side of the automatic bullet replenishment module (5). The electromagnetic lock (3-3) is electrically connected to the aforementioned second waterproof power supply connector, and an electromagnetic unlocking button (3-5) is provided on the circuit between the two on the mounting base (3-6).

6. A hexapod highly mobile all-terrain armed combat robot according to claim 5, characterized in that: A tapered positioning pin (3-2) is provided on the top of the automatic bullet replenishment module (5), and a positioning pin hole is provided on the lower side of the mounting base (3-6) to engage with the aforementioned tapered positioning pin (3-2).

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