Shooting holder based on vision and magnetic levitation driving

Abstract

The invention belongs to the field of holders, and particularly relates to a shooting holder based on vision and magnetic levitation driving. The shooting holder based on vision and magnetic levitation driving comprises a magnetic levitation rotating platform, an ammunition cabin, a shooting mechanism and an ammunition chain. The ammunition cabin comprises an annular cylinder arranged on the rotating platform, an ammunition containing cavity is formed in the inner portion of the cylinder wall of the annular cylinder in a hollow mode, and the shooting mechanism comprises a stand column, a rotating driving device and a shooting gun; the ammunition belt is folded back and forth in the ammunition accommodating cavity; when the shooting holder based on vision and magnetic levitation driving is in a folded state, the mounting plate is obliquely arranged through a hinge structure, so that the rotating platform and the stand column are in an inclined state, and the rotating driving device drives the shooting gun to be flush with the mounting surface of an equipment mounting position. By means of the magnetic suspension rotating platform capable of being stored, the ammunition cabin and the ammunition chain arranged in the ammunition cabin, the integrated efficient shooting solution of reliable supply of large-capacity ammunition and all-around rapid aiming is achieved.

Description

Technical Field

[0001] This invention belongs to the field of gimbals, specifically relating to a shooting gimbal based on vision and magnetic levitation drive. Background Technology

[0002] Targeted activities around airports, farms, and critical facilities often pose serious security risks and economic losses. While the widely used acoustic-optical-physical (AOP) firing platforms based on vision and magnetic levitation have some deterrent effect, they still have significant limitations: First, insufficient automation and sustained combat capability, with small ammunition capacity leading to frequent manual reloading; second, low ammunition belt reliability, with traditional ammunition belts prone to jamming during equipment rotation; third, loose structural layout, with independent functional modules resulting in bloated equipment and slow response; and fourth, poor environmental adaptability, with precision mechanisms lacking effective protection and spent cartridge cases difficult to clean up.

[0003] To overcome the above-mentioned shortcomings, the industry urgently needs a shooting solution that integrates large ammunition capacity, highly reliable ammunition feeding, rapid and accurate aiming, all-weather protection, and convenient maintenance. Summary of the Invention

[0004] The technical problem this invention aims to solve is to provide a shooting gimbal based on vision and magnetic levitation drive. Through a magnetic levitation rotating platform, an ammunition magazine, and its built-in ammunition belt, an integrated and efficient shooting solution is achieved, enabling reliable supply of large-capacity ammunition and rapid omnidirectional aiming.

[0005] The present invention provides a shooting gimbal based on vision and magnetic levitation drive, including a magnetic levitation rotating platform, a magazine, a firing mechanism, a magazine belt and a visual target search and aiming mechanism;

[0006] The magnetic levitation rotating platform includes a mounting plate and a rotating platform mounted on the mounting plate, with one end of the mounting plate hinged to the mounting position of a shooting gimbal based on vision and magnetic levitation drive. The internal wall of the ammunition compartment is hollow and has an ammunition receiving cavity. The end of the wall away from the rotating platform has an opening that communicates with the ammunition receiving cavity. The firing mechanism includes a column mounted on a rotating platform and a firing gun mounted at the end of the column via a rotation drive device. The ammunition belt folds back and forth within the ammunition receiving cavity, and the upper end of the ammunition belt is connected to the firing gun. The rotation axis of the rotary drive device is parallel to the rotation axis of the mounting plate.

[0007] Furthermore, the ammunition compartment includes an annular cylinder arranged on a rotating platform. The interior of the annular cylinder is hollow to form the ammunition receiving cavity. An opening communicating with the ammunition receiving cavity is provided at one end of the annular cylinder away from the rotating platform. The column is installed inside the annular cylinder, and the firing gun is installed outside the opening of the annular cylinder on the column.

[0008] Furthermore, the annular cylinder is provided with a notch that extends through both ends of the annular cylinder.

[0009] Furthermore, the ammunition receiving cavity is located at the notch position and consists of two end plates; The ammunition receiving cavity is provided with a belt guide separator, which includes an inclined plate and a vertical plate. The vertical plate is arranged parallel to the axis of the annular cylinder, and one end is fixed to the bottom of the ammunition receiving cavity, while the other end is a certain distance away from the opening. One end of the inclined plate is connected to the bottom of the ammunition receiving cavity, and the other end is connected to the top of the vertical plate. The inclined plate and one of the end plates form a first ammunition receiving compartment, and the vertical plate and the other end plate form a second ammunition receiving compartment; The ammunition belt is first folded back and forth in the second ammunition receiving compartment, and its upper end is arranged facing the first ammunition receiving compartment. After passing through the inclined surface of the inclined plate, it is folded back and forth in the first ammunition receiving compartment.

[0010] Furthermore, the firing mechanism also includes a cartridge case guide for guiding cartridge cases ejected from the firing gun's ejection port into the annular tube.

[0011] Furthermore, the cartridge case guide is a soft guide channel, with one end of the soft guide channel disposed on the cartridge case ejection port and the other end disposed towards the inside of the annular cylinder.

[0012] Furthermore, the bomb bay also includes a sealing plate, which is hinged at the bottom of the rotating platform at the notch of the annular cylinder, and the sealing plate is used to seal and open the notch.

[0013] Furthermore, the sealing plate includes an arc-shaped plate and limiting upright plates disposed on both sides of the arc-shaped plate; When the sealing plate blocks the gap, the arc-shaped plate connects with the outer wall of the annular cylinder, and the limiting plate abuts against the end face of the gap; When the sealing plate opens the notch, the arc-shaped plate and the limiting plate form a cartridge case discharge channel.

[0014] Furthermore, the rotating platform comprises a magnetic levitation loop line mounted on a mounting plate and a circular plate mounted on the magnetic levitation loop line's moving part.

[0015] Furthermore, the visual target search and aiming mechanism includes a support column mounted on a rotating platform and located inside an annular cylinder, and a target search and aiming gimbal mounted on the upper end of the support column.

[0016] The beneficial effects of this invention are that the vision- and magnetically levitated firing platform provided by this invention, through the coordinated design of the rotating platform, ammunition magazine, firing mechanism, and ammunition belt, achieves all-around, multi-angle firing coverage, greatly improving firing efficiency and accuracy. The equipment has a compact structure, rational space utilization, supports large-scale ammunition storage and automated operation, reduces manual intervention, and improves reliability and durability. Particularly noteworthy is the hinged mounting plate design, which allows the equipment to be completely concealed within the mounting plane of the equipment's installation location, achieving integration with platforms such as vehicles, ship cabins, or the ground. This not only greatly enhances the equipment's concealment, protection, and environmental adaptability but also avoids impacting platform mobility and safety. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the first angle structure of the present invention; Figure 2 This is a schematic diagram of the second angle structure of the present invention; Figure 3 This is a schematic diagram of the bomb bay being an annular cylindrical structure in this invention; Figure 4 This is a schematic diagram of the first state of use when the bomb bay is an annular cylindrical structure in this invention; Figure 5 This is a schematic diagram of the second state of use when the bomb bay has an annular cylindrical structure in this invention.

[0018] In the diagram, 1-magnetic levitation rotating platform; 11-mounting plate; 111-hinged structure; 12-rotating platform; 121-magnetic levitation loop; 122-circular plate; 2-ammunition compartment; 21-ring cylinder; 22-ammunition receiving cavity; 221-end plate; 222-first ammunition receiving sub-cavity; 223-second ammunition receiving sub-cavity; 23-opening; 24-notch; 25-ammunition belt guide separator; 251-inclined plate; 252-vertical plate; 26-sealing plate; 261-arc plate; 262-limiting upright plate; 263-ammunition case ejection channel; 3-firing mechanism; 31-column; 32-rotation drive device; 33-firing gun; 331-ammunition case ejection port; 34-ammunition case guide; 4-ammunition belt; 5-visual target search and aiming mechanism; 51-support column; 52-target search and aiming gimbal; 6-equipment installation position. Detailed Implementation

[0019] The technical solutions of 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0021] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0024] like Figures 1-5 As shown, the present invention provides a shooting gimbal based on vision and magnetic levitation drive, including a magnetic levitation rotating platform 1, a magazine 2, a shooting mechanism 3, a magazine 4, and a visual target search and aiming mechanism 5; The magnetic levitation rotating platform 1 includes a mounting plate 11 and a rotating platform 12 disposed on the mounting plate 11. One end of the mounting plate 11 is hinged to the shooting gimbal mounting position 6 based on vision and magnetic levitation drive. At this time, the angle of the mounting plate 11 can be adjusted through the hinge structure 111 on the mounting plate 11.

[0025] The ammunition compartment 2 has a hollow interior wall with an ammunition storage cavity 22, and an opening 23 communicating with the ammunition storage cavity 22 is provided at the end of the wall away from the rotating platform 12. The firing mechanism 3 includes a column 31 mounted on a rotating platform 12 and a firing gun 33 mounted at the end of the column 31 via a rotating drive device 32. The ammunition belt 4 is folded back and forth within the ammunition receiving cavity 22, and the upper end of the ammunition belt 4 is connected to the firing gun 33. The rotation axis of the rotary drive device 32 is parallel to the rotation axis of the mounting plate 11.

[0026] The vision- and magnetically levitated firing gimbal provided by this invention achieves all-around, multi-angle firing coverage through the coordinated design of the rotating platform 12, ammunition compartment 2, firing mechanism 3, and ammunition belt 4, greatly improving firing efficiency and accuracy. The device has a compact structure, efficient space utilization, supports large-scale ammunition storage and automated operation, reduces manual intervention, and enhances reliability and durability.

[0027] It should be noted that the shooting gun 33 in this application can be a smoke grenade shooting gun, a bird deterrent shooting gun, a fire extinguishing grenade shooting gun, etc., and the ammunition belt 4 can be a smoke grenade, a bird deterrent grenade, or a fire extinguishing grenade, etc. When it is a bird deterrent grenade, the visual target search and aiming mechanism 5 is used to search for birds flying in the air; when it is a smoke grenade or a fire extinguishing grenade, the visual target search and aiming mechanism 5 is used to search for targets on the ground.

[0028] In one embodiment, the ammunition compartment 2 includes an annular cylinder 21 arranged on a rotating platform 12. The interior of the annular cylinder 21 is hollow to form the ammunition receiving cavity 22. An opening 23 communicating with the ammunition receiving cavity 22 is provided at one end of the annular cylinder 21 away from the rotating platform 12. The column 31 is installed inside the annular cylinder 21, and the firing gun 33 is installed outside the opening 23 of the annular cylinder 21 where the column 31 is located.

[0029] In this embodiment, reference Figures 3-5 The ammunition compartment 2 includes an annular cylinder 21 arranged on a rotating platform 12. The annular cylinder 21 has a hollow interior wall with an ammunition receiving cavity 22. The annular cylinder 21 has an opening 23 at the end opposite to the rotating platform 12, which communicates with the ammunition receiving cavity 22. The ammunition receiving cavity 22 is used to receive the ammunition belt 4, and the ammunition belt 4 is output to the firing gun 33 through the opening 23 at the end of the ammunition receiving cavity 22. The interior of the annular cylinder 21 is used to install the firing mechanism 3 and other mechanisms such as visual target search and aiming mechanisms 5, so as to make rational use of space. That is, the design of the ammunition compartment 2 optimizes space utilization, centrally stores a large number of firing rounds, reduces the frequency of manual loading, and improves the continuous combat capability of the equipment. At the same time, the internal space integrates other functional mechanisms, making the equipment structure compact, reducing the overall volume, and facilitating installation and maintenance.

[0030] The firing mechanism 3 includes a column 31 mounted on a rotating platform 12 and located inside an annular cylinder 21, and a firing gun 33 mounted on the column 31 outside the opening 23 of the annular cylinder 21 via a rotating drive device 32. At this time, the firing gun 33 can adjust its pitch angle through the rotating drive device 32, while the rotation of the rotating platform 12 can achieve the horizontal angle of the firing gun 33, enabling the firing gun 33 to aim and fire in all directions, ensuring rapid aiming and firing at targets in different directions, improving the accuracy and efficiency of firing, reducing blind spots, and enhancing the overall firing effect.

[0031] refer to Figure 4 The ammunition belt 4 folds back and forth within the ammunition receiving cavity 22, and the upper end of the ammunition belt 4 is connected to the firing gun 33. At this time, the firing gun 33 can prepare a large number of rounds at once, reducing the frequency of manual loading. Moreover, the ammunition loading method using the ammunition belt 4 can also ensure the stability and reliability of automatic loading. Furthermore, the folding storage method of the ammunition belt 4 increases the ammunition capacity, supports long-term automated operation, reduces manual intervention, and improves the reliability and continuity of the equipment. The structure of the ammunition belt 4 ensures the stability of the loading process, avoids jamming or malfunction, and improves the durability of the equipment.

[0032] The rotation axis of the rotary drive device 32 is parallel to the rotation axis of the mounting plate 11; In one embodiment, the annular cylinder 21 is provided with a notch 24 penetrating both ends of the annular cylinder 21.

[0033] In this embodiment, the notch 24 serves four purposes: First, whether the spent cartridge cases accidentally or intentionally fall into the annular cylinder 21 during operation, they can be easily removed or extracted through this notch 24. This solves the problem of spent cartridge cases easily accumulating inside the closed annular structure and being difficult to clean.

[0034] Second, the notch 24 makes daily inspection, cleaning and maintenance of the inside of the annular cylinder 21 simpler and more direct, significantly reducing the difficulty and time cost of equipment maintenance and ensuring high equipment uptime.

[0035] Third, the notch 24 transforms the originally closed annular ammunition receiving cavity 22 into a "C"-shaped groove structure. This makes the loading and guiding path of the ammunition belt 4 more intuitive and flexible, effectively avoiding the possible entanglement and jamming of the ammunition belt 4 within the annular cavity, and improving the reliability of ammunition feeding.

[0036] In one embodiment, the ammunition receiving cavity 22 is located at the notch 24 and consists of two end plates 221; The ammunition receiving cavity 22 is provided with a bullet belt guide separator 25. The bullet belt guide separator 25 includes an inclined plate 251 and a vertical plate 252. The vertical plate 252 is arranged parallel to the axis of the annular cylinder 21, and one end is fixed to the bottom of the ammunition receiving cavity 22, while the other end is a certain distance away from the opening 23. One end of the inclined plate 251 is connected to the bottom of the ammunition receiving cavity 22, and the other end is connected to the top of the vertical plate 252. The inclined plate 251 and one of the end plates 221 form a first ammunition receiving compartment 222, and the vertical plate 252 and the other end plate 221 form a second ammunition receiving compartment 223. The ammunition belt 4 is first folded back and forth in the second ammunition receiving compartment 223, and its upper end is arranged facing the first ammunition receiving compartment 222. After passing through the inclined surface of the inclined plate 251, it is folded back and forth in the first ammunition receiving compartment 222.

[0037] In this embodiment, the firing gun 33 preferentially uses the ammunition in the first ammunition receiving compartment 222. Since the ammunition belt is pre-guided to the first ammunition receiving compartment 222 through the inclined plate 251 during installation, the firing gun 33 directly extracts this portion of ammunition during operation. When the ammunition in the first ammunition receiving compartment 222 is used up, the ammunition belt 4 smoothly transitions through the inclined plate 251 to the stacked ammunition belt 4 in the second ammunition receiving compartment 223. This process is continuous and guided by the structure, rather than relying on the firing gun 33 to forcefully pull the ammunition belt of the entire ammunition receiving compartment 22, thereby achieving seamless and low-resistance connection of the ammunition in the two compartments.

[0038] This design ensures that the firing gun 33's loading operation range is always limited to a local area, avoiding the direct dragging of all ammunition belts within the entire length of the ammunition receiving cavity 22.

[0039] Preferably, the arc lengths of the first ammunition receiving compartment 222 and the second ammunition receiving compartment 223 are the same. In this case, the ammunition capacity of the first ammunition receiving compartment 222 and the second ammunition receiving compartment 223 is basically equal, which makes the weight and distribution of the ammunition belt 4 more balanced throughout the ammunition compartment 2. This helps to reduce the eccentric load on the equipment when the rotating platform 12 rotates, reduce vibration, make the operation more stable, and is conducive to the stress balance of the overall structure.

[0040] In one embodiment, the firing mechanism 3 further includes a cartridge case guide 34 for guiding cartridge cases ejected from the cartridge case ejection port 331 of the firing gun 33 into the cylinder of the annular tube 21.

[0041] In this embodiment, the cartridge case guide 34 can guide the high-temperature cartridge cases ejected at high speed from the cartridge case ejection port 331 to the central space inside the annular cylinder 21 according to a preset path. This avoids the problem of cartridge cases splashing and scattering randomly, and effectively prevents hot or sharp empty cartridge cases from falling into the precision transmission components or drive mechanism of the rotating platform 12, thereby fundamentally eliminating the risk of equipment failure caused by cartridge case jamming. At the same time, it also avoids the safety hazards and environmental pollution that may be caused by cartridge cases falling into the external environment (such as vehicle roofs or airport runways). In addition, in the embodiment with the notch 24, maintenance personnel can easily and thoroughly clean all the cartridge cases accumulated in the cylinder through the notch 24, greatly simplifying daily maintenance work and improving maintenance efficiency.

[0042] In one embodiment, the cartridge case guide 34 is a flexible guide channel, with one end positioned on the cartridge case ejection port 331 and the other end facing the interior of the annular cylinder 21. The flexible guide channel can be made of a high-temperature resistant metal chain or a fiber tube. When the firing gun 33 is fired, it generates recoil, and the entire rotating platform 12 may be in motion. The flexible guide channel has good flexibility and adaptability, capable of compensating for relative displacement or vibration between the firing gun 33 and the annular cylinder 21, ensuring the guide path remains effective and avoiding loosening, breakage, or cartridge case leakage that may occur after long-term use due to rigid connections.

[0043] In one embodiment, the bomb bay 2 further includes a sealing plate 26, which is hinged to the bottom of the rotating platform 12 at the notch 24 of the annular cylinder 21. The sealing plate 26 is used to seal and open the notch 24.

[0044] In this embodiment, when the vision- and magnetically levitated firing gimbal is operating normally, closing the sealing plate 26 can effectively isolate the internal space of the annular cylinder 21 from the external environment. This prevents cartridge cases from jumping out of the annular cylinder 21, and when it is necessary to clean the cartridge cases, it is only necessary to open the sealing plate 26 to achieve the cleaning.

[0045] When the length of the butt section of the firing gun 33 touches the side wall of the annular tube 21 during pitch adjustment, the top of the sealing plate 26 is a certain distance from the opening 23, which can be used to retain the notch 24 for engaging the butt section.

[0046] In one embodiment, the blocking plate 26 includes an arc-shaped plate 261 and limiting plates 262 disposed on both sides of the arc-shaped plate 261; When the sealing plate 26 seals the gap 24, the arc plate 261 is connected to the outer wall of the annular cylinder 21, and the limiting plate 262 abuts against the end face of the gap 24, that is, abuts against the outer side of the end plate 221. When the sealing plate 26 opens the notch 24, the arc-shaped plate 261 and the limiting plate 262 form a cartridge case discharge channel 263.

[0047] In this embodiment, the design of the arc plate 261 ensures that it can smoothly connect with the outer wall of the annular cylinder 21 when closed, forming an effective physical barrier to prevent moisture and dust from entering from the side of the annular cylinder 21 and to maintain the integrity of the bomb bay's appearance.

[0048] When in the blocked state, the limiting plates 262 on both sides abut tightly against the end face of the notch 24, precisely limiting the final position of the blocking plate 26. This effectively prevents the blocking plate 26 from excessively flipping into the internal space of the cylinder and encroaching on the internal space, ensuring the normal working space of the internal mechanism. Preferably, the blocking plate 26 can be fixed to the wall of the annular cylinder 21 by means of a snap-fit ​​or locking structure.

[0049] When the sealing plate 26 is opened for cleaning, the arc-shaped plate 261 and the limiting plates 262 on both sides naturally form a three-sided enclosed scoop-shaped cartridge case discharge channel 263. This channel not only accurately guides the flow of cartridge cases and prevents them from scattering, but its structure also increases the effective volume of the cylinder when the arc-shaped plate 261 seals the gap 24, allowing it to hold more cartridge cases during normal operation. Furthermore, this cartridge case discharge channel 263 works in conjunction with the hinge structure 111 of the mounting plate 11. When the mounting plate 11 is tilted via the hinge structure 111, the cartridge cases inside the cylinder are concentrated and smoothly poured out under the guidance of the cartridge case discharge channel 263. If the mounting plate 11 is equipped with an active drive, and the equipment reciprocates, this channel can act like a slide, efficiently shaking out the cartridge cases, achieving rapid and thorough cleaning and greatly improving maintenance efficiency.

[0050] In one embodiment, the rotating platform 12 comprises a magnetic levitation loop 121 disposed on a mounting plate 11 and a circular plate 122 disposed on a mover of the magnetic levitation loop 121. The circular plate 122 forms the mounting platform of the rotating platform 12, and the annular cylinder 21, the column 31, and the support column 51 of the visual target search and aiming mechanism 5 are all disposed on the circular plate 122.

[0051] The magnetic levitation loop 121 uses electromagnetic force to directly drive the rotor to rotate, which in turn drives the circular plate 122 to rotate, eliminating traditional mechanical transmission structures such as gears and worm gears. This achieves extremely high rotational speed, acceleration, and positioning accuracy, enabling the firing gun 33 to lock onto and track high-speed flying targets at extremely high speeds, significantly improving aiming and firing efficiency. At the same time, the non-contact drive makes the movement extremely smooth and quiet, with almost no vibration.

[0052] In one embodiment, a visual target search and aiming mechanism 5 is also included; The visual target search and aiming mechanism 5 includes a support column 51 mounted on the rotating platform 12 and located inside the annular cylinder 21, and a target search and aiming gimbal 52 mounted on the upper end of the support column 51. In this embodiment, the target search and aiming gimbal 52 (typically integrating sensors such as a high-definition camera, thermal imager, and radar) can perform continuous three-dimensional scanning of the airspace, automatically identify, lock onto, and track targets through built-in algorithms, achieving a leap from passively driving away to actively detecting and accurately striking targets, significantly improving the timeliness and effectiveness of shooting.

[0053] The above description is merely an embodiment and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations, modifications, or alterations to the technical solutions of the present invention without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A shooting gimbal based on vision and magnetic levitation drive, characterized in that, It includes a magnetic levitation rotating platform (1), a bomb bay (2), a firing mechanism (3), a bullet belt (4), and a visual target search and aiming mechanism (5); The magnetic levitation rotating platform (1) includes a mounting plate (11) and a rotating platform (12) disposed on the mounting plate (11). One end of the mounting plate (11) is hinged to the shooting gimbal mounting position (6) based on vision and magnetic levitation drive. The ammunition compartment (2) has a hollow interior wall with an ammunition storage cavity (22), and an opening (23) connecting the ammunition storage cavity (22) is provided at the end of the wall away from the rotating platform (12). The firing mechanism (3) includes a column (31) mounted on a rotating platform (12) and a firing gun (33) mounted at the end of the column (31) by a rotating drive device (32). The ammunition belt (4) is folded back and forth inside the ammunition receiving cavity (22), and the upper end of the ammunition belt (4) is connected to the firing gun (33); The rotation axis of the rotary drive device (32) is parallel to the rotation axis of the mounting plate (11).

2. The shooting gimbal based on vision and magnetic levitation drive as described in claim 1, characterized in that, The ammunition compartment (2) includes an annular cylinder (21) arranged on a rotating platform (12). The inner wall of the annular cylinder (21) is hollow to form the ammunition receiving cavity (22). An opening (23) communicating with the ammunition receiving cavity (22) is provided at one end of the annular cylinder (21) away from the rotating platform (12). The column (31) is located inside the annular cylinder (21), and the gun (33) is located outside the opening (23) of the annular cylinder (21) where the column (31) is located.

3. The shooting gimbal based on vision and magnetic levitation drive as described in claim 2, characterized in that, The annular cylinder (21) is provided with notches (24) that penetrate both ends of the annular cylinder (21).

4. The shooting gimbal based on vision and magnetic levitation drive as described in claim 3, characterized in that, The ammunition receiving cavity (22) is located at the notch (24) and consists of two end plates (221); The ammunition receiving cavity (22) is provided with a bullet belt guide separator (25). The bullet belt guide separator (25) includes an inclined plate (251) and a vertical plate (252). The vertical plate (252) is arranged parallel to the axis of the annular cylinder (21), and one end is fixed to the bottom of the ammunition receiving cavity (22), while the other end is a certain distance away from the opening (23). One end of the inclined plate (251) is connected to the bottom of the ammunition receiving cavity (22), and the other end is connected to the top of the vertical plate (252). The inclined plate (251) and one of the end plates (221) form a first ammunition receiving compartment (222), and the vertical plate (252) and the other end plate (221) form a second ammunition receiving compartment (223). The ammunition belt (4) is first folded back and forth in the second ammunition receiving compartment (223), and its upper end is arranged facing the first ammunition receiving compartment (222). After passing through the inclined surface of the inclined plate (251), it is folded back and forth in the first ammunition receiving compartment (222).

5. The shooting gimbal based on vision and magnetic levitation drive as described in claim 4, characterized in that, The firing mechanism (3) also includes a cartridge case guide (34) for guiding the cartridge cases ejected from the ejection port (331) of the firing gun (33) into the cylinder of the annular tube (21).

6. The shooting gimbal based on vision and magnetic levitation drive as described in claim 5, characterized in that, The cartridge case guide (34) is a soft guide channel. One end of the soft guide channel is disposed on the cartridge case ejection port (331), and the other end is disposed inside the annular cylinder (21).

7. The shooting gimbal based on vision and magnetic levitation drive as described in claim 5, characterized in that, The bomb bay (2) also includes a sealing plate (26), which is hinged to the bottom of the rotating platform (12) at the notch (24) of the annular cylinder (21). The sealing plate (26) is used to seal and open the notch (24).

8. The shooting gimbal based on vision and magnetic levitation drive as described in claim 7, characterized in that, The sealing plate (26) includes an arc-shaped plate (261) and limiting plates (262) disposed on both sides of the arc-shaped plate (261). When the sealing plate (26) seals the gap (24), the arc plate (261) is connected to the outer wall of the annular cylinder (21), and the limiting plate (262) abuts against the end face of the gap (24); When the sealing plate (26) opens the notch (24), the arc plate (261) and the limiting plate (262) form a cartridge case discharge channel (263).

9. The vision-based and magnetically levitated shooting gimbal as described in any one of claims 1-8, characterized in that, The rotating platform (12) consists of a magnetic levitation loop line (121) set on the mounting plate (11) and a circular plate (122) set on the mover of the magnetic levitation loop line (121).

10. The vision-based and magnetically levitated shooting gimbal as described in any one of claims 1-8, characterized in that, The visual target search and aiming mechanism (5) includes a support column (51) set on the rotating platform (12) and located inside the annular cylinder (21) and a target search and aiming gimbal (52) set on the upper end of the support column (51).

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