CN219914181U - Shooting mechanism for security patrol robot - Google Patents

Abstract

The utility model relates to the technical field of security robots, in particular to a shooting mechanism for a security patrol robot, which comprises: a frame; four Mecanum wheels mounted to the frame, the four Mecanum wheels being configured to be independently driven; a rotary table connected to the carriage; a launch system coupled to the rotary table, rotatable relative to the rotary table; and the ammunition supply system is connected to the frame. The robot can be used for assisting first-line security, workers to complete investigation, prevention and control tasks in dangerous and high-strength working environments, particularly, the robot has better flexibility, can keep continuous locking of target personnel in complex environments by matching with a bullet supply and emission system, improves the control capability of the target personnel, solves the problems of high working strength, short-distance contact cross infection risk, quick deployment trouble and the like of the first-line security personnel, effectively saves human resources, and greatly improves productivity and working efficiency.

Description

Shooting mechanism for security patrol robot

Technical Field

The utility model relates to the technical field of security robots, in particular to a shooting mechanism for a security patrol robot.

Background

The security patrol work in China is mainly realized by manpower, and the requirements on human resources are high and certain potential safety hazards exist; particularly, in railway stations, hospitals, squares, markets and the like, people are intensive, a large amount of manpower is required to be invested for supervision, but due to the fact that the intensive personnel can increase contact risks in recent years for the intensive management and control of epidemic diseases, and the security robot has advantages not possessed by manpower, such as being capable of being arranged in a large amount, and no risk of infection exists.

The existing security robot generally has the functions of bidirectional voice conversation and audible and visual alarm, but lacks the capability of further coping with emergency, especially the high flexibility and the high uniform capability, and the security robot is one of important conditions for replacing manpower security patrol, so how to improve the high uniform capability of the security robot is the problem to be solved by the utility model.

Disclosure of Invention

The utility model provides a shooting mechanism for a security patrol robot, which comprises:

a rotary table connected to the carriage;

a launch system coupled to the rotary table, rotatable relative to the rotary table;

a ammunition feed system connected to the frame for feeding ammunition to the firing system;

the rotary table is used for driving the launching system to rotate around the axis of the rotary table, the rotation angle is 360 degrees, the bullet supply system comprises a first bullet supply channel, the rotary table comprises a second bullet supply channel, the launching system comprises a launching channel, an intermittent feeding part is arranged at the inlet end of the first bullet supply channel and used for intermittently conveying ammunition in the first bullet supply channel, the inlet end of the second bullet supply channel is connected with the outlet end of the first bullet supply channel, and the launching system is configured to launch ammunition in the launching channel.

Preferably, the firing channel includes an S-channel section, a speed control section and a straight channel section, the speed control section being provided with a pair of accelerator wheels rotatable relative to the firing channel, and the accelerator wheels including portions within the firing channel, a predetermined initial velocity in the direction of the straight channel section being applied after contact of the spherical ammunition within the firing channel with the accelerator wheel surface.

Preferably, a pair of the acceleration wheels are symmetrically distributed along the axis of the straight passage section, and the axis of the acceleration wheels is perpendicular to the axis of the straight passage section.

Preferably, the intermittent feeding part comprises a sheave driving motor, a sheave and a bottom plate, the bullet feeding system further comprises a bullet storage bin, the top of a driving shaft of the sheave driving motor extends to the bottom end of the bullet storage bin, the driving shaft of the sheave driving motor is configured into an umbrella shape, a channel for only one ammunition to pass through is formed between the driving shaft of the sheave driving motor and the bottom of the bullet storage bin, the sheave is connected to the driving shaft of the sheave driving motor, a plurality of transferring spaces for storing ammunition are formed between the sheave and the bottom plate, and each transferring space only accommodates one ammunition.

Preferably, a baffle is arranged at the bottom of the rotary table, at least one transferring space is covered by the baffle, a transition cage is arranged below the baffle, a first bullet supplying channel is formed by the grooved pulley and the transition cage, and the first end of the transition cage is butted to the transferring space below the rotary table.

Preferably, the bullet feeding pipe is arranged in the rotary table, the S-shaped channel section comprises an S-shaped conveying cage, a first end of the S-shaped conveying cage is connected to the bullet feeding pipe, the speed control section and the linear channel section comprise a gun head, a second end of the S-shaped conveying cage is connected to the gun head, the S-shaped conveying cage can rotate relative to the bullet feeding pipe, and a driving component for driving the S-shaped conveying cage to rotate relative to the bullet feeding pipe is arranged in the rotary table.

Preferably, the driving part comprises a rotating motor, a driving belt and a belt wheel, the belt wheel is connected to the outer wall of the bottom of the S-shaped conveying cage, the axis of the belt wheel coincides with the axis of the bullet feeding pipe, the driving belt is sleeved at the output end of the belt wheel and the rotating motor, and the rotating motor is in transmission connection with the belt wheel through the driving belt.

Preferably, a bearing is arranged at the bottom of the S-shaped conveying cage, a circular notch is formed in the rotary table, and the bearing is arranged between the outer wall of the S-shaped conveying cage and the notch of the rotary table.

Preferably, the emission gun head is hinged to the S-shaped conveying cage through a horizontal rotating shaft, so that the emission gun head can change the pitching angle, an arc-shaped connecting plate is arranged at the position, close to the S-shaped conveying cage, of the emission gun head, an arc-shaped groove is formed in the arc-shaped connecting plate, and a limit column is arranged on the S-shaped conveying cage and is positioned in the arc-shaped groove to limit the pitching angle of the emission gun head.

Preferably, a pitching motor is arranged outside the S-shaped conveying cage, the output end of the pitching motor is connected with the first end of the swing arm, and the second end of the swing arm is connected to the emission gun head and used for controlling the pitching posture of the emission gun head.

Compared with the prior art, the utility model has the advantages that:

the shooting mechanism provided by the utility model comprises the ammunition supply, the rotary table and the emission system, and the ammunition supply and emission system is connected through the rotary table, so that the emission system still has emission capability in a 360-degree rotation state, namely, target personnel can be continuously controlled in a complex environment, the uniform capability of the security robot is particularly improved, the problems of high working strength, short-distance contact cross infection risk, rapid deployment trouble and the like of first-line security personnel are solved, and manpower resources are effectively saved.

Drawings

The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the utility model will now be described, by way of example, with reference to the accompanying drawings, in which:

FIG. 1 is a side view of a shooting mechanism of the present utility model mounted to a security robot;

FIG. 2 is a perspective view of the firing mechanism of the present utility model mounted to a security robot;

FIG. 3 is a schematic view of the magazine of the present utility model;

FIG. 4 is a top view of the firing mechanism of the present utility model;

FIG. 5 is a cross-sectional view of the firing mechanism of the present utility model;

FIG. 6 is a schematic diagram of a feed system according to the present utility model;

fig. 7 is a cross-sectional view of the feed system of the present utility model.

Detailed Description

For a better understanding of the technical content of the present utility model, specific examples are set forth below, along with the accompanying drawings.

Based on the limitations of the current security patrol robots, such as functions of alarming, shouting, identifying and the like, which are usually carried out, the restriction uniform effect on suspicious personnel is lacking, and particularly when a target person has a motivation of escaping or rushing a card, the current security patrol robots have almost no rejection and restriction capability.

Referring to fig. 1-4, the utility model provides a shooting mechanism for a security patrol robot, which comprises a rotary table 40, a launching system 50 and a bullet supply system 30, wherein the robot further comprises a frame 10, a machine vision system 60 and the like, four Mecanum wheels 20 are mounted on the frame 10, the four Mecanum wheels 20 are arranged to be driven independently, and the rotary table 40 is connected to the frame 10; the launch system 50 is connected to the rotary table 40 and is rotatable relative to the rotary table 40; a feed system 30 is coupled to frame 10 for feeding a projectile to firing system 50.

Further, the machine vision system 60 is connected to the transmitting system 50, and is configured to acquire a real-time image in front of the transmitting system 50; the power supply system 70 is used to power the four Mecanum wheels 20, the turret 40, the launch system 50, the ammunition feed system 30, and the machine vision system 60.

In this manner, the configuration of the carriage 10+four Mecanum wheels 20 may improve the sensitivity of the robot, and in particular, the traversing capability and the wide range of rotation capability of the robot, which may facilitate the locking of the target person by the machine vision system 60 in a small area, and the arrangement of the launching system 50 and the turntable 40 may maintain the continuous locking of the target person by the launching system 50 based on the traversing capability and the wide range of rotation capability, and maintain the output capability of the target person to achieve rejection and constraint capability.

Further, how to ensure continuous output of ammunition, especially output performance under various rotation conditions and attitudes, is a basis for ensuring continuous output to a target, and thus, the rotary table 40 is used to drive the firing system 50 to rotate around the axis of the rotary table 40 by 360 ° with the ammunition feed system 30 including the first ammunition feed channel, the rotary table 40 including the second ammunition feed channel, and the firing system 50 including the firing channel.

Wherein the first feed channel, the second feed channel and the firing channel will communicate the magazine and the firing area, and particularly the first feed channel and the second feed channel can maintain a clear delivery profile when the firing system 50 rotates and tilts.

Specifically, the inlet end of the first ammunition supply channel is provided with an intermittent feeding part for intermittently feeding ammunition into the first ammunition supply channel, and the ammunition supply mode can ensure the reliability of on-demand supply, namely, one ammunition supply is performed once.

In an alternative embodiment, the ammunition shown in the present utility model is a spherical ammunition, wherein the spherical ammunition comprises a casing and a core material surrounded by the casing, it being understood that the casing and the core material may be of different materials and thicknesses, depending on the type of task, and the utility model is not limited thereto.

For example, when a fire-fighting task is performed, the core material of the fire-fighting agent can be selected as a fire retardant, the fire-fighting agent is thrown into a fire scene to play a role in fire extinguishment, when a security task is performed, the core material of the fire-fighting agent can be selected as an adhesive, and when ammunition hits a target person, the movement capacity of the target person is retarded or inhibited by the adhesive action of the adhesive until the target person is uniformed.

Further, the inlet end of the second ammunition feed channel is connected with the outlet end of the first ammunition feed channel, and the launching channel comprises an S-shaped channel section, a speed control section and a linear channel section.

Further, a pair of accelerating wheels 52 are arranged at the speed control section, the accelerating wheels 52 can rotate relative to the launching channel, the accelerating wheels 52 comprise parts positioned in the launching channel, when spherical ammunition positioned in the launching channel is contacted with the surface of the accelerating wheels 52, the predetermined initial speed along the direction of the straight line channel section is applied, the interaction of the contact friction between the surface of the accelerating wheels 52 and the surface of the ammunition is utilized to endow the ammunition with an initial speed, the ammunition is ejected to hit a target, the initial speed of the ammunition can be controlled by controlling the rotating speed of the accelerating wheels 52, namely the firing range, the hitting force and the like of the ammunition can be controlled, and the ammunition is endowed with different capacities according to different environments in a targeted manner.

In the preferred embodiment, the pair of acceleration wheels 52 are symmetrically disposed along the axis of the straight path segment and the axes of the acceleration wheels are perpendicular to the axis of the straight path segment, and by this arrangement, the interaction of the two acceleration wheels 52 with the spherical ammunition is balanced so as not to cause rotation during flight due to local stress of the spherical ammunition, and the ejected trajectory presents an arc shape to the left, right or excessively upward and downward on the ejected trajectory, so that the ejected trajectory falls naturally, which is advantageous in calculating the hit range of the ammunition and improving the hit rate.

In an alternative embodiment, shown in connection with fig. 5-7, the intermittent feed means includes a sheave drive motor 342, a sheave 34, and a floor 33, and the feed system 30 further includes a magazine 31.

The magazine 31 is a frame-type structure, which is intended to accommodate ammunition and to improve the loading capacity of the robot, while when more spherical ammunition is placed in the magazine 31 of the frame-type structure, the ammunition cannot be reliably dropped into the feeding path due to mutual extrusion.

Thus, the top of the drive shaft of the sheave drive motor 342 extends to the bottom end of the magazine 31, the drive shaft of the sheave drive motor 342 is configured in an umbrella shape, and a passage through which only one ammunition passes is formed between the drive shaft of the sheave drive motor 342 and the bottom of the magazine 31.

Thus, the umbrella-shaped driving shaft at the top of the sheave driving motor 342 constructs the bottom of the magazine 31 into a gradually narrowing annular groove structure, so that even though ammunition is mutually extruded, the bottom is a downward sliding inclined surface, spherical ammunition can necessarily follow the inclined surface slideway annular groove, and the width of the annular groove only accommodates one ammunition, so that the ammunition is orderly arranged.

Further, the sheave 34 is connected to a driving shaft of the sheave driving motor 342, and a plurality of transfer spaces 341 for storing ammunition, each accommodating only one ammunition, are formed between the sheave 34 and the base plate 33.

Since the sheaves 34 have good separation capability and can ensure that one ammunition is delivered into the delivery channel at a time, the bottom plate 33 supports the bottom of the ammunition, and the sheaves 34 separate the ammunition on the bottom plate 33 to form a stable interval delivery mechanism.

Further, in order to ensure that the ammunition in the transfer space 341 is fed into the feeding channel every time the sheave 34 rotates to a specific position, a baffle is provided at the bottom of the rotary table 40, which covers at least one transfer space 341, i.e. the ammunition in the transfer space 341 does not fall from above, a transition cage 35 is provided below the baffle, and the transition cage 35 is provided with a baffle extending into the transfer space 341, it is understood that the baffle does not interfere with the rotation of the sheave 34, so that whenever the transfer space 341 around the sheave 34 rotates to this position, the baffle pushes the ammunition in the transfer space 341 into the transition cage 35 for continuous feeding into the transition cage 35, and when the next ammunition is fed into the transition cage 35 again, the previous ammunition is pressed by the next ammunition, i.e. lifted up to a height until the position of the accelerator wheel 52 is reached.

In combination with the above, a first feed channel is formed by the sheaves 34, the transition cage 35, and the first end of the transition cage 35 is docked to the transfer space 341 below the rotary table 40 for transferring ammunition in the transfer space 341 into the transition cage 35.

Referring to fig. 6, the rotary table 40 is provided therein with a bullet feed tube 36, the S-shaped passage section includes an S-shaped feed cage 53, a first end of the S-shaped feed cage 53 is connected to the bullet feed tube 36, the speed control section and the linear passage section include a gun head 51, a second end of the S-shaped feed cage 53 is connected to the gun head 51, the S-shaped feed cage 53 is rotatable relative to the bullet feed tube 36, and a driving member for driving the S-shaped feed cage 53 to rotate relative to the bullet feed tube 36 is provided in the rotary table 40.

In order to ensure reliability, the S-shaped conveying cage 53, the gun head 51 and the bullet feed tube 36 are constructed as rigid components, wherein in order to adapt the pitching attitude of the gun head 51, i.e. not to squeeze ammunition in the conveying channel when the gun head 51 is in pitching action, the channel in the S-shaped conveying cage 53 is constructed as an S-shape, so that right angles are avoided, the channel is smooth, particularly the connection part of the S-shaped conveying cage 53 and the gun head 51, the space between the hinge point and the accelerating wheel 52 is fixed, and thus, when the gun head 51 rotates relative to the S-shaped conveying cage 53, the space between the accelerating wheel 52 and ammunition to be launched is fixed.

In an alternative embodiment, the transmitting gun head and the S-shaped conveying cage are hinged through a horizontal rotating shaft, so that the transmitting gun head can change the pitching angle, an arc-shaped connecting plate 56 is arranged at the position, close to the S-shaped conveying cage 53, of the transmitting gun head, an arc-shaped groove is formed in the arc-shaped connecting plate 56, and a limiting column is arranged on the S-shaped conveying cage 53 and is positioned in the arc-shaped groove to limit the pitching angle of the transmitting gun head 51.

When the gun head 51 and the S-shaped conveying cage 53 move along the hinge shaft, the arc-shaped groove in the arc-shaped connecting plate 56 slides on the surface of the limit post, so that although the pitching angle of the gun head 51 changes, the distance between the hinge and the accelerating wheel 52 is unchanged, and the launching capability is not affected when the pitching changes.

Further, a pitching motor 54 is arranged outside the S-shaped conveying cage 53, an output end of the pitching motor 54 is connected with a first end of a swinging arm 55, and a second end of the swinging arm 55 is connected to the gun head 51 for controlling pitching posture of the gun head 51.

In a specific embodiment, when the pitching motor 54 rotates, the swing arm 55 rotates around the shaft of the pitching motor 54, and the connecting rod connected with the swing arm 55 drives the gun head 51 to perform pitching motion, so that a target person can be locked better.

Further, in order to give the robot greater flexibility, such as a continuous launching capability around the target person, the driving means comprise a rotation motor 42, a transmission belt 43, a pulley 44, the pulley 44 being connected to the outer wall of the bottom of the S-shaped conveying cage 53, the axis of the pulley 44 coinciding with the axis of the bullet feed tube 36, the transmission belt 43 being fitted over the output ends of the pulley 44 and the rotation motor 42, the rotation motor 42 being in driving connection with the pulley 44 via the transmission belt 43.

In this way, when the small belt wheel at the output end of the rotating motor 42 drives the driving belt 43 to rotate, the belt wheel 44 can rotate, so that the gun head 51 rotates around the axis of the rotary table 40, and the space at the joint of the S-shaped conveying cage 53 and the bullet feeding tube 36 is not changed in the continuous rotation process, so that the bullet feeding is not affected.

In the preferred embodiment, the bottom of the S-shaped conveyor cage 53 is provided with bearings and the turntable 40 is provided with circular notches, the bearings being disposed between the outer wall of the S-shaped conveyor cage 53 and the notches of the turntable 40.

In this way, the bearing capacity, particularly the radial compression resistance, between the S-shaped conveyor cage 53 and the rotary table 40 can be increased, maintaining the reliability of rotation even if attacked by the target person.

In the above embodiment, the vehicle frame 10 includes the vehicle body 11 and the crash frame 12, the crash frame 12 is disposed at the periphery of the vehicle body 11, the support arm 13 is disposed on the vehicle body 11, the Mecanum wheel 20 is connected to the vehicle body 11 through the cantilever 15, the shock absorber 14 is disposed between the cantilever 15 and the support arm 13, the cantilever 15, the support arm 13 and the shock absorber 14 are distributed in a triangle shape, and the crash frame 12 surrounds the outer side of the Mecanum wheel 20.

In this way, the anti-collision frame 12 protects the Mecanum wheel 20 at the periphery of the Mecanum wheel 20, and the Mecanum wheel 20 is provided with four-wheel independent driving and shock absorption due to the flexibility characteristic of the Mecanum wheel 20, so that the transmitting gun head 51 can keep locking the target personnel against complex terrain.

In a specific embodiment, in the inspection preparation stage, the security personnel needs to place the robot on the stable ground, after the power switch is turned on, the machine vision system 60 transmits a real-time image of the first person's visual angle to the computer, the security personnel can operate through the operating end such as the computer and the remote controller, when the operating end sends out an operating instruction, the instruction is transmitted to the singlechip, the singlechip runs the multithreading task of the FreeRTOS, and the corresponding motor motion is controlled steadily through a reasonable cascade pid, so that the corresponding function is realized.

The chassis of the Mecanum wheel type can be controlled differently through the Mecanum wheel, so that translation in different directions is realized, more convenient movement can be provided for the robot, the robot is more beneficial to tracking the target, and the independent control of the cradle head and the chassis of the robot can be realized through the pitching of the rotary table 40 and the launching gun head 51, namely, the robot can be controlled independently while keeping the cradle head, and the target is aimed more stably.

After the pictures collected by the machine vision system 60 are sent to the operation end, the pictures can be recorded and uploaded to an official system, the face recognition of pedestrians is carried out and compared with the face information of the system, and when dangerous parts are found, an alarm can be sent to police personnel; the face recognition system can also recognize and supervise the wearing of the mask for pedestrians, and the pedestrians who do not wear the mask during epidemic situations are reminded through the loudspeaker of the image transmission module in a voice mode.

When dangerous situations occur on the inspection site, security personnel can carry out counseling on dangerous parts through remote control or can effectively control the dangerous parts by transmitting warning bullets; the warning bullet is launched out through the accelerating wheel 52, the speed measuring module in the machine vision system 60 can measure the speed of the launched warning bullet, the speed information is transmitted to the operation end for the operator to refer, and the operator can change the launching speed of the friction wheel, so that the power of the warning bullet is changed.

In combination with the above embodiment, the shooting mechanism provided by the utility model comprises the ammunition supply, the rotary table and the emission system, and the ammunition supply and the emission system are connected through the rotary table, so that the emission system still has the emission capability in a 360-degree rotation state, namely, the target personnel can be continuously controlled in a complex environment, the uniform capability of the security robot is particularly improved, the problems of high working strength, short-distance contact cross infection risk, rapid deployment trouble and the like of the first-line security personnel are solved, and the manpower resource is effectively saved.

While the utility model has been described with reference to preferred embodiments, it is not intended to be limiting. Those skilled in the art will appreciate that various modifications and adaptations can be made without departing from the spirit and scope of the present utility model. Accordingly, the scope of the utility model is defined by the appended claims.

Claims (10)

1. A shooting mechanism for a security patrol robot, comprising:

a rotary table (40) connected to the carriage (10);

-a launch system (50) connected to said rotary table (40) rotatable with respect to said rotary table (40);

-a ammunition feed system (30) connected to the frame (10) for feeding the ammunition to the firing system (50);

the rotary table (40) is used for driving the launching system (50) to rotate around the axis of the rotary table (40), the rotation angle is 360 degrees, the bullet supply system (30) comprises a first bullet supply channel, the rotary table (40) comprises a second bullet supply channel, the launching system (50) comprises a launching channel, an intermittent feeding component is arranged at the inlet end of the first bullet supply channel and used for intermittently conveying ammunition in the first bullet supply channel, the inlet end of the second bullet supply channel is connected with the outlet end of the first bullet supply channel, and the launching system (50) is configured to launch the ammunition in the launching channel.

2. Shooting mechanism for a security patrol robot according to claim 1, wherein the firing channel comprises an S-channel section, a speed control section and a straight channel section, a pair of accelerator wheels (52) being provided at the speed control section, the accelerator wheels (52) being rotatable relative to the firing channel, and the accelerator wheels (52) comprising a portion within the firing channel, a predetermined initial velocity being applied in the direction of the straight channel section after a spherical ammunition within the firing channel comes into contact with the surface of the accelerator wheels (52).

3. Shooting mechanism for a security patrol robot according to claim 2, characterized in that a pair of said acceleration wheels (52) are symmetrically distributed along the axis of said rectilinear channel section and the axis of said acceleration wheels is perpendicular to the axis of said rectilinear channel section.

4. The shooting mechanism for a security patrol robot according to claim 1, wherein the intermittent feed means comprises a sheave drive motor (342), a sheave (34) and a floor (33), the feed system (30) further comprises a magazine (31), a drive shaft top of the sheave drive motor (342) extends to a bottom end of the magazine (31), the drive shaft of the sheave drive motor (342) is configured as an umbrella, a passage through which only one ammunition passes is formed between the drive shaft of the sheave drive motor (342) and the bottom of the magazine (31), the sheave (34) is connected to the drive shaft of the sheave drive motor (342), a plurality of transfer spaces (341) for storing ammunition are formed between the sheave (34) and the floor (33), and each transfer space accommodates only one ammunition.

5. Shooting mechanism for a security patrol robot according to claim 4, characterized in that the bottom of the rotating table (40) is provided with a baffle, which covers at least one transfer space (341), a transition cage (35) is provided below the baffle, a first bullet supply channel is formed by the grooved wheel (34) and the transition cage (35), and the first end of the transition cage (35) is butt-jointed to the transfer space (341) below the rotating table (40).

6. Shooting mechanism for a security patrol robot according to claim 2, characterized in that a bullet feed tube (36) is provided in the rotary table (40), the S-shaped channel section comprises an S-shaped feed cage (53), a first end of the S-shaped feed cage (53) is connected to the bullet feed tube (36), the speed control section and the linear channel section comprise a firing gun head (51), a second end of the S-shaped feed cage (53) is connected to the firing gun head (51), the S-shaped feed cage (53) can rotate relative to the bullet feed tube (36), and a driving member for driving the S-shaped feed cage (53) to rotate relative to the bullet feed tube (36) is provided in the rotary table (40).

7. Shooting mechanism for a security patrol robot according to claim 6, characterized in that the driving means comprises a rotation motor (42), a transmission belt (43), a pulley (44), the pulley (44) is connected to the outer wall of the bottom of the S-shaped conveying cage (53), the axis of the pulley (44) coincides with the axis of the bullet feed tube (36), the transmission belt (43) is sleeved at the output end of the pulley (44) and the rotation motor (42), and the rotation motor (42) is in transmission connection with the pulley (44) through the transmission belt (43).

8. Shooting mechanism for a security patrol robot according to claim 6, characterized in that the bottom of the S-shaped transportation cage (53) is provided with a bearing, the rotation table (40) is provided with a circular notch, the bearing is arranged between the outer wall of the S-shaped transportation cage (53) and the notch of the rotation table (40).

9. The shooting mechanism for a security patrol robot according to claim 6, wherein the firing gun head (51) is hinged to the S-shaped conveying cage (53) through a horizontal rotating shaft, so that the firing gun head (51) can change a pitching angle, an arc-shaped connecting plate (56) is arranged at a position, close to the S-shaped conveying cage (53), of the firing gun head (51), an arc-shaped groove is formed in the arc-shaped connecting plate (56), and a limit column is arranged on the S-shaped conveying cage (53) and is positioned in the arc-shaped groove to limit the pitching angle of the firing gun head (51).

10. Shooting mechanism for a security patrol robot according to claim 9, characterized in that the outside of the S-shaped conveying cage (53) is provided with a pitching motor (54), the output end of the pitching motor (54) is connected to the first end of a swinging arm (55), the second end of the swinging arm (55) is connected to a firing gun head (51) for controlling the pitching attitude of the firing gun head (51).