CN209812334U - Modular ejection robot - Google Patents

Abstract

The utility model provides a modularization launches robot relates to the fighting robot field, include: the weapon mechanism comprises an ejection arm, a weapon motor, a cam, a swinging gear and a torsion spring, wherein the weapon motor drives the cam to rotate; the cam pushes the swing gear to rotate; the swinging gear drives the ejection arm to rotate; one end of the ejection arm, which is adjacent to the swinging gear, is provided with a torsion spring; the driving mechanism comprises wheels and a driving motor, and the driving motor is connected with the wheels; the body is connected with the weapon mechanism and the driving mechanism and is suitable for supporting the weapon mechanism and the driving mechanism. The utility model discloses a modularization launches the robot and passes through the design of cam, has realized launching the self-adaptation of arm height to the counterpart robot when attacking, makes it have higher attack effect, adopts the torsional spring to carry out the energy storage for at whole attack in-process, the weapon motor only needs unidirectional rotation, has simplified control circuit design and operator's the operation degree of difficulty.

Description

Modular ejection robot

Technical Field

The utility model relates to a fighting robot technical field, in particular to modularization launches robot.

Background

The existing combat robot generally adopts a motor to directly drive an ejection arm to realize reciprocating swing, or adopts a motor to drive an incomplete gear intermittent mechanism, and utilizes torsion spring energy storage to realize the reciprocating swing of the ejection arm, wherein the ejection arm is directly driven by the motor to realize the reciprocating swing; adopt motor drive incomplete gear intermittent type mechanism, utilize torsional spring energy storage to realize the mode of launching arm reciprocating swing, because of using incomplete gear mechanism, the inside required space of robot is great, and space utilization is low, lead to being difficult to realize miniaturized design requirement, and additional mass has been increased, in the combat robot match that has weight level restriction, only can moderate amount alleviate attack weapon partial mass, meanwhile, the robot attack power has been weakened, in addition, this kind of mode is at the in-process of launching, launch the terminal high position uncertainty of arm, on the one hand, lead to the robot attack effect not good, on the other hand, addendum and addendum in operation process very big can appear and contact each other, cause the interference latch, and then cause the tooth root rupture easily, thereby make the motor stall, even generate heat and burn out.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a modularization launches robot to solve the current poor problem of fighting robot attack effect.

In order to achieve the above purpose, the technical scheme of the utility model is realized like this:

a modular ejection robot, comprising:

the weapon mechanism comprises an ejection arm, a weapon motor, a cam, a swinging gear and a torsion spring, and the weapon motor drives the cam to rotate; the cam pushes the swing gear to rotate; the swinging gear drives the ejection arm to rotate; one end of the ejection arm, which is adjacent to the swinging gear, is provided with the torsion spring;

the driving mechanism comprises wheels and a driving motor, and the driving motor is connected with the wheels;

the machine body is connected with the weapon mechanism, the machine body is connected with the driving mechanism, and the machine body is suitable for supporting the weapon mechanism and the driving mechanism.

Further, the weapon mechanism also comprises a first bracket and a second bracket; the first bracket and the second bracket are detachably connected, and the first bracket and the second bracket enclose an accommodating cavity; the weapon motor, the cam and the swing gear are arranged in the accommodating cavity.

Further, the weapon mechanism further comprises a reduction gear set; the speed reduction gear set drives the cam to rotate, and is arranged in the accommodating cavity; the weapon motor drives the reduction gear set to rotate.

Further, the weapon mechanism further comprises a travel switch; the travel switch is electrically connected with a control system of the modular ejection robot, and the travel switch is arranged in the accommodating cavity.

Further, the swing gear is provided with a boss matched with the cam; the cam pushes the swing gear to rotate through the boss.

Further, one end of the ejection arm, which is adjacent to the swinging gear, is provided with a transmission gear; the swing gear drives the ejection arm to rotate through meshing with the transmission gear.

Further, one end of the ejection arm, which is adjacent to the swinging gear, is provided with a torsion spring groove for accommodating the torsion spring.

Further, the ejection arm comprises a main ejection arm section and an auxiliary ejection arm section; one end of the main ejection arm section is rotatably connected with the swing gear, and the other end of the main ejection arm section is hinged with the auxiliary ejection arm section.

Further, the modular ejection robot further comprises a control system, and the control system is suitable for controlling the weapon motor and the driving motor to rotate.

Further, the modular ejection robot further comprises a power supply system, and the power supply system is suitable for supplying electric energy to the weapon motor, the driving motor and the control system.

Compared with the prior art, the modularization launch robot have following advantage:

1. the utility model discloses a modularization launches the robot and passes through cam promotion swing gear, and swing gear rotates the in-process and drives the bullet and shoot the arm and rotate, it makes the torsional spring of installing on launching the arm and carry out the energy storage to launch the arm at the rotation in-process, after treating the torsional spring energy storage, swing gear breaks away from the moment of cam promptly, it plays under the spring action of torsional spring and attacks to launch the arm, in whole attack process, adopt the high pair contact of cam, to the adaptation of opposite side robot height when having realized launching the arm attack, make it have higher attack effect, and can avoid interfering the latch and the tooth root rupture that arouses, thereby avoid the motor stall, the service life of motor is prolonged.

2. The utility model discloses a modularization launches robot is in whole attack process, and the weapon motor only needs unidirectional rotation, has simplified control circuit design and operator's the operation degree of difficulty, moreover the utility model relates to a torsional spring of energy storage structure and cam, swing gear as transmission structure adopt an organic whole nature design, have improved the inside space utilization of robot greatly to be favorable to realizing miniaturized designing requirement.

3. The utility model discloses a modularization launches robot uses cam and swing gear as drive mechanism to the torsional spring is as energy storage mechanism, in case the robot is overturned, can utilize the swing of launching the arm to make the robot stand up, avoids it because the lost mobility that is stood up.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

fig. 1 is a schematic view of an assembly structure of a modular ejection robot according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a modular ejection robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of an assembled structure of a weapon mechanism according to an embodiment of the present invention;

fig. 4 is a first structural diagram of a weapon mechanism according to an embodiment of the present invention;

fig. 5 is a second structural diagram of the explosion of the weapon mechanism according to the embodiment of the present invention;

fig. 6 is a schematic structural view of an ejection arm according to an embodiment of the present invention;

fig. 7 is a schematic view of a modular ejection robot attack process according to an embodiment of the present invention;

fig. 8 is a schematic view of an attack process of the modular ejection robot according to the embodiment of the present invention;

fig. 9 is a schematic diagram of a third attack process of the modular ejection robot according to the embodiment of the present invention;

fig. 10 is a schematic diagram of an attack process of the modular ejection robot according to the embodiment of the present invention;

fig. 11 is a schematic view showing a turning process of the modular ejection robot according to the embodiment of the present invention;

fig. 12 is a schematic view showing a turning process of the modular ejection robot according to the embodiment of the present invention;

fig. 13 is a schematic diagram showing a turning process of the modular ejection robot according to the embodiment of the present invention;

fig. 14 is a schematic view showing a turning process of the modular ejection robot according to the embodiment of the present invention;

fig. 15 is a schematic diagram showing a turning process of the modular ejection robot according to the embodiment of the present invention;

fig. 16 is a schematic diagram showing a turning process of the modular ejection robot according to the embodiment of the present invention.

Description of reference numerals:

1-weapon mechanism, 11-ejection arm, 111-transmission gear, 112-torsion spring slot, 113-main ejection arm segment, 114-auxiliary ejection arm segment, 12-weapon motor, 13-cam, 14-swing gear, 141-boss, 15-first support, 16-second support, 17-accommodating cavity, 18-reduction gear set, 19-travel switch, 2-driving mechanism, 21-wheel, 22-driving motor and 3-machine body.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Example 1

Referring to fig. 1-6, the present embodiment provides a modular ejection robot, which includes a weapon mechanism 1, a driving mechanism 2 and a body 3, where the weapon mechanism 1 includes an ejection arm 11, a weapon motor 12, a cam 13, a swing gear 14 and a torsion spring (not shown in the drawings), and the weapon motor 12 drives the cam 13 to rotate; the cam 13 pushes the swing gear 14 to rotate; the swinging gear 14 drives the ejection arm 11 to rotate; one end of the ejection arm 11 adjacent to the swinging gear 14 is provided with a torsion spring; the driving mechanism 2 comprises wheels 21 and a driving motor 22, and the driving motor 22 is connected with the wheels 21; the body 3 is connected with the weapon mechanism 1, the body 3 is connected with the driving mechanism 2, and the body 3 is suitable for supporting the weapon mechanism 1 and the driving mechanism 2.

Wherein, actuating mechanism 2 is four-wheel type travelling wheel, including wheel 21 and driving motor 22, and wheel 21 includes two action wheels in the rear side and two driven wheels in the front side, and single action wheel all drives through single driving motor, has two driving motor 22 in this embodiment, and the left turn and the right turn of robot are realized through differential motion.

In this embodiment, the modular ejection robot further includes a control system, and the control system is adapted to control the weapon motor and the driving motor to rotate, control the weapon mechanism 1 to attack when the weapon motor is controlled to rotate, and control the wheels 21 to rotate when the driving motor is controlled to rotate, and drive the robot to move.

In this embodiment, the modular ejection robot further includes a power supply system, and the power supply system is adapted to provide electric energy for the weapon motor, the driving motor, and the control system, so as to ensure that the robot can normally operate.

In the weapon mechanism 1, the swing gear 14 is an incomplete gear, so that the interference of the swing gear with the operation of other components can be avoided on the premise of meeting the ejection stroke of the ejection arm 11, the reasonability of the design of the whole weapon mechanism 1 is improved, and the attack effect of the weapon mechanism 1 of the embodiment is further improved; the cam 13 pushes the oscillating gear 14 to rotate, which is realized by the following way: the swing gear 14 is provided with a boss 141 matched with the cam 13, the cam 13 pushes the swing gear 14 to rotate through the boss 141, at the moment, the small boss 141 on the swing gear 14 serves as a driven member stirred by the cam 13 and is driven by the cam 13 to complete reciprocating motion, meanwhile, the swing gear 14 in the form of an incomplete gear drives the ejection arm 11, the whole transmission process has high continuity, and therefore the attack efficiency of the weapon mechanism 1 is improved; the swinging gear 14 drives the ejection arm 11 to rotate, which is realized by the following way: one end of the ejection arm 11 adjacent to the swing gear 14 is provided with a transmission gear 111; the swinging gear 14 is meshed with the transmission teeth 111 to drive the ejection arm 11 to rotate, and the transmission ratio of the swinging gear 14 to the transmission teeth 111 on the ejection arm 11 is 1.5: 1-4: 1, the power storage swing of the ejection arm 11 is realized through the meshing of the teeth, so that the continuity of the transmission process can be further improved, the impact generated among all components is avoided, and the attack efficiency of the weapon mechanism 1 is further improved.

The modularized ejection robot of the embodiment pushes the swing gear 14 through the cam 13, the swing gear 14 drives the ejection arm 11 to rotate in the rotation process, the ejection arm 11 enables the torsion spring installed on the ejection arm 11 to store energy in the rotation process, after the energy storage of the torsion spring is finished, namely the swing gear 14 is separated from the cam 13, the ejection arm 11 is ejected under the elastic action of the torsion spring to attack, in the whole attack process, the cam 13 is in high-side contact, the self-adaption of the height of an opposite robot when the ejection arm 11 attacks is achieved, the modularized ejection robot has a high attack effect, the tooth root breakage caused by interference of blocking teeth can be avoided, the motor stalling is avoided, and the service life of the motor is prolonged. In the whole attack process of the modularized ejection robot, the motor only needs to rotate in one direction, the control circuit design and the operation difficulty of an operator are simplified, and the modularized ejection robot is designed integrally as a torsion spring of an energy storage structure, a cam 13 and a swing gear 14 of a transmission structure, so that the space utilization rate inside the robot is greatly improved, and the miniaturized design requirement is favorably met. In addition, the modular ejection robot of the embodiment uses the cam 13 and the swing gear 14 as transmission mechanisms, uses the torsion spring as an energy storage mechanism, and can turn over the robot by utilizing the swing of the ejection arm 11 once the robot is overturned, so that the phenomenon that the robot loses mobility due to being overturned is avoided.

In this embodiment, the weapon mechanism 1 further comprises a first bracket 15, a second bracket 16; the first bracket 15 and the second bracket 16 are detachably connected, and an accommodating cavity 17 is enclosed by the first bracket 15 and the second bracket 16; the weapon motor 12, the cam 13 and the oscillating gear 14 are arranged in the accommodating cavity 17. One end of the weapon motor 12 is fixed on the first bracket 15, the other end of the weapon motor 12 is rotatably connected with the second bracket 16 through a motor output shaft, the weapon motor 12 drives the cam 13 to rotate through the motor output shaft, and the swing gear 14 and the ejection arm 11 are rotatably connected with the second bracket 16 through a fixed shaft. In this embodiment, set up weapon motor 12, cam 13, swing gear 14 and enclose into by first support 15 and second support 16 and hold chamber 17 in, prevent that the part from exposing, and then be favorable to avoiding at the robot combat in-process, cause the damage to it, and because of first support 15 and the detachable connection of second support 16, convenient maintenance.

Moreover, in the present embodiment, the modular ejection robot further includes a reduction gear set 18; the reducing gear set 18 drives the cam 13 to rotate, and the reducing gear set 18 is arranged in the accommodating cavity 17; the weapon motor 12 drives the reduction gear set 18 in rotation. Wherein the reduction gear set 18 is a 3-stage gear set, and the reduction ratio thereof may be preferably 38The number of the gear-shifting gears is preferably 0.5, the motor output shaft of the weapon motor 12 is a toothed output shaft, the gear-shifting gears 18 and the weapon motor 12 are meshed through teeth to drive the gear-shifting gears 18 by the weapon motor 12, and the gear-shifting gears 18 can be integrally connected with the cam 13 through a shaft, i.e. the gear-shifting gears 18 and the cam 13 are coaxially fixed into a whole, so that the gear-shifting gears 18 drive the cam 13 to rotate. In the present embodiment, the reduction gear set 18 is arranged to perform multi-stage speed reduction on the weapon motor 12, so as to facilitate increasing the torque of the weapon motor 12, enable the weapon mechanism 1 to drive a torsion spring with higher torsional rigidity, and increase the energy that can be stored by the torsion spring in a single energy storage process without changing the compression amount of the torsion spring, thereby increasing the attack force of the weapon mechanism 1 according to the present embodiment.

In addition, in the present embodiment, the modular ejection robot further includes a travel switch 19; the travel switch 19 is electrically connected to the control system of the modular ejection robot of the present embodiment, and the travel switch 19 is disposed in the accommodating chamber 17. The travel switch 19 and the control system are both fixed on the second bracket 16, that is, they are arranged adjacent to the ejection arm 11, so that the cam 13 rotates to a critical position, that is, the swing gear 14 swings to a maximum angle, when the torsion spring has a maximum energy storage, the ejection arm 11 can trigger the travel switch 19, and further the control system sends a stop or continuous rotation instruction to the motor, so that the ejection arm 11 is ejected by the torsion spring to attack when an attack is needed, and the maximum energy storage state is maintained when an attack is not needed, so as to release the energy of stored force to attack according to the next instruction. The setting of the travel switch 19 in the present embodiment makes the control of the weapon mechanism 1 of the present embodiment more intelligent.

Further, in the present embodiment, one end of the ejector arm 11 adjacent to the swing gear 14, that is, one end of the ejector arm 11 provided with the transmission teeth 111, is provided with a torsion spring groove 112 accommodating a torsion spring, and the torsion spring groove 112 is circular. In the embodiment, the torsion spring groove 112 is formed in the ejection arm 11, the torsion spring is arranged in the torsion spring groove 112, and in the process that the swing gear 14 drives the ejection arm 11 to rotate, the torsion spring performs torsion energy storage in the same direction along with the swing of the ejection arm 11, because the rotation direction of the swing gear 14 is opposite to the swing direction of the ejection arm 11, when the swing gear 14 is disengaged from the cam 13, the ejection arm 11 can perform ejection attack under the action of the torsion spring, after the ejection attack of the ejection arm 11 is finished, the swing gear 14 is again contacted with the cam 13 to perform energy storage and ejection attack in the next period, the whole structural arrangement is more compact, so that the miniaturization and modularization of the combat robot are facilitated, in addition, the torsion spring is adopted to drive the ejection arm 11, the component force along the length direction of the ejection arm 11 can be avoided, so that the attack force of the weapon mechanism 1 of the embodiment can be improved, in addition, the torsion spring is arranged on the ejection arm 11, can prevent the torsional spring from scratching an operator during the assembly and disassembly.

Meanwhile, in the present embodiment, the ejection arm 11 includes a main ejection arm segment 113 and an auxiliary ejection arm segment 44; one end of the main ejection arm section 113 is rotatably connected with the swing gear 14, and the other end of the main ejection arm section 113 is hinged with the auxiliary ejection arm section 44. The auxiliary ejection arm section 44 is of a hook-shaped structure, and when the energy storage of the torsion spring on the ejection arm 11 is the largest, the tail end of the hook-shaped structure is tightly attached to the ground, so that on one hand, the effect of shoveling the other side can be improved, on the other hand, the throwing effect can also be improved, and further, the attack effect of the weapon mechanism 1 of the embodiment is improved.

The modularized ejection robot of the embodiment pushes the swing gear 14 through the cam 13, the swing gear 14 drives the ejection arm 11 to rotate in the rotation process, the ejection arm 11 enables the torsion spring installed on the ejection arm 11 to store energy in the rotation process, after the energy storage of the torsion spring is finished, namely the swing gear 14 is separated from the cam 13, the ejection arm 11 is ejected under the elastic action of the torsion spring to attack, in the whole attack process, the cam 13 is in high-side contact, the self-adaption of the ejection arm 11 to the height of an opposite robot in the attack process is realized, the modularized ejection robot has a high attack effect, the tooth root breakage caused by interference of a latch can be avoided, the motor stalling is avoided, and the service life of the motor is prolonged.

In the whole attack process of the modularized ejection robot, the motor only needs to rotate in one direction, the control circuit design and the operation difficulty of an operator are simplified, and the modularized ejection robot is designed integrally as a torsion spring of an energy storage structure, a cam 13 and a swing gear 14 of a transmission structure, so that the space utilization rate inside the robot is greatly improved, and the miniaturized design requirement is favorably met.

In addition, the modular ejection robot of the embodiment uses the cam 13 and the swing gear 14 as transmission mechanisms and uses the torsion spring as an energy storage mechanism, once the robot is overturned, the robot can be overturned by utilizing the swing of the ejection arm 11, and the phenomenon that the robot loses mobility due to overturning is avoided.

It should be noted that the modular ejection robot of the present embodiment is not only suitable for a combat robot, but also suitable for other types of robots.

As shown in fig. 7-10, the ejection attack process of the modular ejection robot of the present embodiment is as follows:

1) after the weapon motor 12 is decelerated by the reduction gear set 18, the reduction gear set 18 drives the cam 13 to rotate anticlockwise, the cam 13 pushes the swing gear 14 to swing anticlockwise, the swing gear 14 drives the ejection arm 11 to rotate clockwise, and the torsion spring is enabled to store energy;

2) the cam 13 continues to rotate anticlockwise, when the cam 13 rotates to a critical position, namely the highest position of the cam 13, the ejection arm 11 triggers the travel switch 19, the control system sends a signal of stopping rotation to the weapon motor 12, and the energy storage of the torsion spring reaches the maximum;

3) when an attack is needed, the control system gives a signal of continuing rotation of the weapon motor 12, the swing gear 14 is separated from the cam 13 to lose thrust, the ejection arm 11 ejects anticlockwise under the action of the torsion spring to attack, in the ejection process of the ejection arm 11, the swing gear 14 rotates clockwise, the cam 13 still rotates anticlockwise under the drive of the reduction gear set 18, along with the anticlockwise ejection attack of the ejection arm 11, the boss 141 on the swing gear 14 gradually approaches the cam 13 until contacting the cam 13 again, and the energy storage and ejection attack process of the next period is carried out.

Referring to fig. 11 to 16, the turning process of the modular ejection robot of the present embodiment is as follows:

1) the ejection arm 11 rotates anticlockwise, so that the tail end of the ejection arm contacts the ground;

2) the vehicle body rotates clockwise under the reaction force, and the vehicle body rotates clockwise through a limit position by means of inertia to turn over.

The design method of the cam 13 in the modular ejection robot of the embodiment is as follows:

because the modularized ejection robot of the embodiment needs to make the torsion spring accumulate force, the smaller the pressure angle of the cam 13 is, the better the transmission performance of the mechanism is, and in order to meet the requirement of compact structure, a forward swing type cam 13 swing link mechanism is considered to be preferred, the push stroke stage of the cam 13 is designed according to the sine acceleration motion law, the speed and the acceleration curve of the motion law are continuous, and no sudden change exists, so that the modularized ejection robot has no rigid impact and no flexible impact, and can be suitable for a high-speed cam 13 mechanism.

1) Calculating allowable pressure angle area of cam 13

Taking the rotation center of the cam 13, the rotation center of the oscillating gear 14 and the center of the boss 141 on the oscillating gear 14 as the design points of the allowable pressure angle area of the cam 13, preferably selecting the length of an oscillating rod as 4mm, the maximum value of the oscillating angle of the oscillating rod as 72 degrees, the push stroke motion angle as 270 degrees and the allowable push stroke pressure angle as 40 degrees according to the structural size and the motion requirement, wherein the oscillating rod is a virtual structure formed by connecting the rotation center of the oscillating gear 14 and the center of the boss 141 on the oscillating gear 14;

2) determining the radius and the center distance of the base circle of the cam 13, and calculating the theoretical contour line of the cam 13

In the pressure angle allowable area of the cam 13, according to the principles of compact structure and smallest pressure angle as possible, experimental points are taken to calculate the peak value of the thrust, and a large number of experimental calculations show that the effect is better when the base radius of the cam 13 is 4.2mm and the center distance is 7 mm;

3) the size of the swing rod roller, namely the size of the boss 141 on the swing gear 14, is determined, and a large number of experimental calculations show that the radius of the swing rod roller is not too large or too small, preferably 2mm, and the requirement that the radius of curvature is 3-5 mm smaller than the minimum radius of curvature of the contour line of the cam 13 is met.

Example 2

The present embodiment differs from the above embodiments in that: the ejection arm 11 comprises a transmission section and an ejection section; the transmission section is provided with a cam 13 contact point which is in contact with the cam 13, so that the transmission end can rotate under the pushing of the cam 13; the ejection section is connected with the transmission section through a shaft, so that the ejection section swings under the driving of the transmission section. Wherein, the cam 13 is crescent, and the ejection section is provided with a torsion spring at one end connected with the transmission section through a shaft.

The modular ejection robot of the embodiment enables the ejection arm 11 to directly contact with the cam 13 to perform energy storage swing of the ejection arm 11, so that the structural compactness can be further improved, and the miniaturization and the modular design of the combat robot are realized.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A modular ejection robot, comprising:

the weapon mechanism (1) comprises an ejection arm (11), a weapon motor (12), a cam (13), a swing gear (14) and a torsion spring, wherein the weapon motor (12) drives the cam (13) to rotate; the cam (13) pushes the swinging gear (14) to rotate; the swinging gear (14) drives the ejection arm (11) to rotate; one end of the ejection arm (11) adjacent to the swinging gear (14) is provided with the torsion spring;

the driving mechanism (2) comprises a wheel (21) and a driving motor (22), and the driving motor (22) is connected with the wheel (21);

fuselage (3), fuselage (3) with weapon mechanism (1) is connected, fuselage (3) with actuating mechanism (2) are connected, fuselage (3) are suitable for the support weapon mechanism (1) with actuating mechanism (2).

2. The modular ejection robot according to claim 1, characterized in that the weapon mechanism (1) further comprises a first bracket (15), a second bracket (16); the first bracket (15) is detachably connected with the second bracket (16), and an accommodating cavity (17) is enclosed by the first bracket (15) and the second bracket (16); the weapon motor (12), the cam (13) and the swing gear (14) are arranged in the accommodating cavity (17).

3. The modular ejection robot according to claim 2, characterized in that the weapon mechanism (1) further comprises a reduction gear set (18); the reducing gear set (18) drives the cam (13) to rotate, and the reducing gear set (18) is arranged in the accommodating cavity (17); the weapon motor (12) drives the reduction gear set (18) to rotate.

4. The modular ejection robot according to claim 2, characterized in that the weapon mechanism (1) further comprises a travel switch (19); the travel switch (19) is electrically connected with a control system of the modular ejection robot, and the travel switch (19) is arranged in the accommodating cavity (17).

5. The modular ejection robot as claimed in claim 1, characterized in that the oscillating gear (14) is provided with a boss (141) matching the cam (13); the cam (13) pushes the swinging gear (14) to rotate through the boss (141).

6. The modular ejection robot as claimed in claim 1, characterized in that one end of the ejection arm (11) adjacent to the oscillating gear (14) is provided with a transmission tooth (111); the swing gear (14) is meshed with the transmission gear (111) to drive the ejection arm (11) to rotate.

7. The modular ejection robot as claimed in claim 1, characterized in that the end of the ejection arm (11) adjacent to the swing gear (14) is provided with a torsion spring slot (112) accommodating the torsion spring.

8. The modular ejection robot as claimed in claim 1, characterized in that the ejection arm (11) comprises a main ejection arm segment (113) and an auxiliary ejection arm segment (114); one end of the main ejection arm section (113) is rotatably connected with the swing gear (14), and the other end of the main ejection arm section (113) is hinged with the auxiliary ejection arm section (114).

9. The modular ejection robot as claimed in claim 1, further comprising a control system adapted to control rotation of the weapon motor (12) and the drive motor (22).

10. The modular ejection robot as claimed in claim 9, further comprising a power supply system adapted to provide electrical power to the weapon motor (12), the drive motor (22) and the control system.