WO2020102999A1 - 云台、弹丸发射系统及机器人 - Google Patents

云台、弹丸发射系统及机器人

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Publication number
WO2020102999A1
WO2020102999A1 PCT/CN2018/116548 CN2018116548W WO2020102999A1 WO 2020102999 A1 WO2020102999 A1 WO 2020102999A1 CN 2018116548 W CN2018116548 W CN 2018116548W WO 2020102999 A1 WO2020102999 A1 WO 2020102999A1
Authority
WO
WIPO (PCT)
Prior art keywords
projectile
motor
gimbal
projectile launching
motor shaft
Prior art date
Application number
PCT/CN2018/116548
Other languages
English (en)
French (fr)
Inventor
余小彬
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880042809.7A priority Critical patent/CN110832267B/zh
Priority to PCT/CN2018/116548 priority patent/WO2020102999A1/zh
Publication of WO2020102999A1 publication Critical patent/WO2020102999A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G13/00—Other offensive or defensive arrangements on vessels; Vessels characterised thereby
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/28—Arrangement of offensive or defensive equipment

Definitions

  • the invention relates to the technical field of PTZ, in particular, to a PTZ, a projectile launching system and a robot.
  • Infantry robots often play a very important role in the game due to their large number of characters, flexibility, and fast attack speed. Among them, the infantry robot's magazine capacity determines the sustainable combat time, and the stability of the gimbal determines the strike accuracy to a certain extent. Both of these factors have a relatively large impact on the attack power.
  • the magazine and the projectile launching device are integrated and placed on the pitch axis of the gimbal.
  • the problem with this structure is that as the number of bullets decreases, the gimbal control will be affected, which will further affect To the accuracy of the strike, and due to the torque of the gimbal, the projectile capacity will be relatively small, and the combat time cannot be effectively extended.
  • the prior art proposes a solution to separate the magazine from the projectile launching device to solve the problems of lowering the accuracy of the gimbal and reducing the capacity of the magazine due to the reduction of bullets.
  • the existing magazine and projectile The split design of the launching device has the problems that the supply link between the magazine and the projectile launching device is difficult to design and difficult to be compatible with the gimbal, which often leads to the adverse effects of complicated gimbal structure and overall decline in gimbal accuracy.
  • a gimbal is used to connect with a projectile launching device, and the projectile launching device is used to launch a projectile
  • the gimbal includes a first motor and a projectile pipe; one end of the projectile pipe is used to connect the projectile A launching device, the other end of which is connected to the first motor, and the first motor is used to drive the projectile tube to rotate;
  • the first motor includes a motor shaft, and an axial through Hole, and the diameter of the through hole is larger than the outer diameter of the projectile, so that the projectile can sequentially pass through the through hole, the projectile pipe and be delivered to the projectile launching device.
  • a projectile launching system includes: a projectile launching device; the gimbal described in any one of the above technical solutions, and the projectile launching device is provided on the cloud platform.
  • a robot includes: a chassis, a power mechanism mounted on the chassis and used for driving the chassis to move, and the projectile launching system described in any one of the above technical solutions.
  • the projectile launching system is provided on the chassis.
  • the present application has the following beneficial technical effects: the gimbal provided by the present invention, the projectile pipe and the through hole on the motor shaft of the first motor communicate to form a channel, which can be used for projectile transportation along the through hole and projectile pipe
  • the projectile launching device to meet the requirements for the transmission of projectiles between the projectile launching device and the magazine that are arranged separately from each other, to avoid the traditional projectile locating on the projectile launching device, which will lead to the decrease in the accuracy of the gimbal and the capacity of the magazine due to the reduction of projectiles.
  • Restrict big problems the projectile pipe and the through hole on the motor shaft of the first motor communicate to form a channel, which can be used for projectile transportation along the through hole and projectile pipe
  • the projectile can be directly transmitted along the motor shaft of the first motor, so that it will not hinder the driving work of the first motor, and an integrated connection for driving and conduction between the projectile pipe and the first motor is realized.
  • the projectile pipe There is no need to drive the projectile pipe through a large and complex transmission mechanism while satisfying the projectile transportation.
  • the gimbal structure is relatively simpler and smaller, and the direct drive by the first motor avoids the transmission mechanism.
  • the control response speed and accuracy issues made the compatibility between the gimbal and the projectile launcher better, and the overall accuracy of the gimbal was improved accordingly.
  • FIG. 1 is a schematic diagram of a front view of a projectile launching system according to an embodiment of the present invention
  • FIG. 2 is a schematic cross-sectional structural view of the projectile launching system shown in FIG. 1;
  • FIG. 3 is a schematic left side view of the projectile launching system shown in FIG. 1;
  • FIG. 4 is a schematic view of the front view of the projectile launching system (with the outer cover removed) according to an embodiment of the present invention
  • FIG. 5 is a schematic view of a partial cross-sectional structure of a projectile launching system (with the outer cover removed) according to an embodiment of the present invention
  • FIG. 6 is a partially enlarged schematic structural view of the partial cross-sectional structure shown in FIG. 5;
  • FIG. 7 is a schematic view of the rear view of the projectile launching system shown in FIG. 4;
  • FIG. 8 is a schematic diagram of a bottom view of the projectile launching system shown in FIG. 4;
  • FIG. 9 is a schematic perspective view of the projectile launching system shown in FIG. 4;
  • FIG. 10 is a schematic diagram of the structure of the projectile launching system shown in FIG. 4 after rotating downward by ⁇ degrees;
  • FIG. 11 is a schematic perspective view of the projectile launching system shown in FIG. 10;
  • FIG. 12 is an exploded schematic view of the projectile launching system shown in FIG. 4;
  • FIG. 13 is a partial structural diagram of the exploded structure of the projectile launching system shown in FIG. 4;
  • FIG. 14 is a schematic diagram of a three-dimensional structure of a first motor according to an embodiment of the present invention.
  • FIG. 15 is a schematic side view of the structure of the first motor shown in FIG. 14;
  • FIG. 16 is a schematic view of the bottom structure of the first motor shown in FIG. 14;
  • FIG. 17 is a schematic cross-sectional structural view of the first motor shown in FIG. 14;
  • FIG. 18 is a schematic diagram of an exploded structure of the first motor shown in FIG. 14;
  • FIG. 19 is a schematic structural view of a projectile pipe according to an embodiment of the present invention.
  • FIG. 20 is a three-dimensional schematic diagram of a projectile launching device according to an embodiment of the invention.
  • FIG. 21 is a three-dimensional structural diagram of an acceleration tube according to an embodiment of the invention.
  • first motor 110 motor shaft, 111 through hole, 112 threaded section, 121 second end cap, 1211 fourth opening, 122 rotor magnetic ring, 123 rotor magnet, 124 rotor yoke, 131 stator base, 1311 seat body, 1312 fixing part, 1313 limit part, 1314 second opening, 132 stator light guide column, 133 stator iron core, 134 first end cover, 1341 third opening, 1342 first protrusion, 1343 second protrusion, 1344 screw hole , 1345 limit groove, 135 electrical cavity, 137 functional interface, 138 screw, 1381 first bearing, 1382 second bearing, 139 locking sleeve, 1391 mounting ring, 200 projectile pipe, 210 connecting elbow, 211 groove, 220C pipe section, 221 straight pipe section, 222 first bend section, 223 second bend section, 300 connection assembly, 310 mounting plate, 311 first opening, 312 boss, 313 first positioning groove, 320 first installation Arm, 330 second mounting arm, 400 second motor, 500 projectile
  • An embodiment of the present invention provides a gimbal.
  • the gimbal can be used for projectile launch systems, and projectile launch systems can be used for robots, such as land robots (infantry robots), underwater robots, and aerial robots.
  • the robot can be remotely controlled by the user.
  • the robot has a chassis, and the gimbal is provided on the chassis, and the gimbal may be provided with a projectile launching device, for example. Multiple robots can team up to fight against each other to form a robot game.
  • the gimbal provided by the embodiment of the first aspect of the present invention can be used to connect with the projectile launching device 500, and the projectile launching device 500 is used to launch the projectile 700, wherein the gimbal includes: a first The motor 100 and the projectile pipeline 200. Specifically, one end of the projectile tube 200 is used to connect the projectile launching device 500, and the other end is connected to the first motor 100. It can be understood that, the projectile pipe 200 and the first motor 100 may be directly connected or indirectly connected through a centering member, so that the first motor 100 can drive the projectile pipe 200 to rotate.
  • the first motor 100 includes a motor shaft 110, and a through hole 111 is formed in the axial direction of the motor shaft 110, and the diameter of the through hole 111 is larger than the outer diameter of the projectile 700, so that the projectile 700 can sequentially pass through the through hole 111,
  • the projectile pipe 200 is transported to the projectile launching device 500.
  • the rotation of the projectile pipe 200 driven by the first motor may be used to realize the rotation of the projectile 700 in the projectile pipe 200.
  • the projectile pipe 200 is a spiral pipe
  • the rotation movement of the projectile pipe 200 can realize the rotation movement of the projectile pipe 700 .
  • the projectile launching device 500 may be driven to rotate by driving the projectile pipe 200 or directly drive the projectile launching device 500, so that the projectile launching device 500 has at least one degree of freedom of rotation, and the projectile launching at multiple angles can be achieved by using
  • the first motor 100 drives the projectile pipe 200 and the projectile launching device 500.
  • the rotation synchronization of the projectile pipe 200 and the projectile launching device 500 is more reliable, and the communication effect between the projectile pipe 200 and the projectile launching device 500 is more stable and reliable.
  • the projectile pipe 200 may be fixedly connected to the projectile launching device 500, or may be rotated, and may be specifically set according to needs.
  • the gimbal may be additionally provided with a motor for driving the projectile launching device 500 to rotate, and the motor for driving the projectile launching device 500 and the first motor 100 can be adjusted by electronic control to achieve maintenance
  • the rotation synchronization of the projectile launching device 500 and the projectile pipeline 200 can also achieve the purpose of making the communication effect between the projectile piping 200 and the projectile launching apparatus 500 more stable and reliable.
  • the requirement for the transmission of bullets between the arranged projectile launching device 500 and the magazine 610 avoids the fact that the traditional magazine 610 is located in the projectile launching device 500, which leads to the decrease of the gimbal accuracy caused by the reduction of the projectile 700 and the large restrictions on the capacity of the magazine 610 problem.
  • the projectile 700 can be directly transmitted along the motor shaft 110 of the first motor 100, so as not to hinder the driving work of the first motor 100, and to realize the driving and conduction between the projectile pipe 200 and the first motor 100 Integrated connection without driving the projectile pipe 200 through a large and complex transmission mechanism, so that the gimbal structure is simpler and smaller, and the direct drive by the first motor avoids the control caused by the transmission mechanism
  • the response speed and accuracy issues make the compatibility between the gimbal and the projectile launcher 500 better, and the overall accuracy of the gimbal is improved accordingly.
  • the gimbal further includes a connection assembly 300, which is provided on the first motor 100 to support the projectile launching device 500; the first motor 100 is also used to drive the connection assembly 300 Turn.
  • the connection assembly 300 is provided on the first motor 100 to support the projectile launching device 500; the first motor 100 is also used to drive the connection assembly 300 Turn.
  • the connection assembly 300 includes a mounting plate 310, a first mounting arm 320, and a second mounting arm 330; the mounting plate 310 is provided on the first motor 100, and the first mounting arm 320 and the first The two mounting arms 330 are disposed on both sides of the mounting plate 310; a housing space is formed in the first mounting arm 320, and the projectile pipe 200 is partially located in the housing space.
  • the first mounting arm 320 can be used to support and shape the projectile pipe 200, ensure that the projectile pipe 200 will not be damaged and bent, so that the delivery effect of the projectile 700 is more reliable, and the use of the connection assembly 300 also ensures the projectile launch
  • the rigidity of the connection between the device 500 and the projectile pipe 200 ensures the rotation synchronization of the projectile launching device 500 and the projectile pipe 200 driven by the first motor 100, and at the same time, the structure of the connection assembly 300 also facilitates the formation of the projectile pipe 200 and the first
  • the integrated design between the mounting arms 320 further reduces the overall volume of the gimbal.
  • the motor shaft 110 of the first motor 100 may also be designed to be connected to the projectile launching device 500 and the projectile pipe 200, for example, the motor shaft 110 of the first motor 100 is connected to the projectile pipe 200 (eg, the first The motor shaft 110 of the motor 100 and the projectile pipe 200 are connected by a coupling), and the motor shaft 110 of the first motor 100 is connected to the projectile launching device 500 through centering components (such as the mounting plate 310 and the second mounting arm 330).
  • the first mounting arm 320 and the part of the projectile tube 200 are integrally formed.
  • the first installation arm 320 is integrally injection molded with part of the projectile pipe 200, etc. This structure can save the assembly steps of the pipe penetration, which simplifies the product assembly process, and can also enhance the Connection strength.
  • one end of the projectile pipe 200 is connected to the first motor 100 through the mounting plate 310.
  • the mounting plate 310 is provided with a first opening 311 adapted to the through hole 111.
  • the first opening 311 is located between the first mounting arm 320 and the second mounting arm 330 for communicating with the projectile pipe 200 110 with the motor shaft.
  • the mounting plate 310 is provided with a boss 312, the projectile tube 200 is provided with a groove 211, and the boss 312 is embedded in the groove 211.
  • the boss 312 and the groove 211 can be used to form an assembly positioning instruction between the mounting plate 310 and the projectile tube 200, which is beneficial to ensure that the projectile tube 200 and the first opening 311 on the mounting plate 310 are accurately aligned, and to ensure the projectile tube 200 Effective communication with the through-hole 111 of the motor shaft 110, and at the same time, the interlocking fit of the boss 312 and the groove 211 is also conducive to the transfer of the shear stress between the mounting plate 310 and the projectile pipe 200, improving the projectile pipe 200 Drive reliability.
  • the projectile pipe 200 is provided with a boss 312, the mounting plate 310 is provided with a groove 211, and the boss 312 is embedded in the groove 211.
  • the boss 312 of the mounting plate 310 is ring-shaped and surrounds the first opening 311, and the inner wall surface of the through hole 111 of the motor shaft 110 is projected and mounted on the mounting plate 310
  • the inner circle of the boss 312 of the plate 310 coincides.
  • the first opening 311 can form a smooth transition between the through-hole 111 and the projectile pipe 200, and avoid the problem of stagnation when the projectile 700 passes through the first opening 311.
  • the first motor 100 includes a rotor assembly, a stator assembly, and a motor shaft 110.
  • the rotor assembly is fixedly connected to the motor shaft 110, and the stator assembly is rotatably connected to the rotor assembly and the motor shaft 110.
  • stator assembly is connected to the projectile tube 200 and can drive the projectile tube 200 to rotate. It can be understood that the stator assembly and the projectile tube 200 may be directly connected or indirectly connected through a centering component (such as the mounting plate 310).
  • the rotor assembly and / or the motor shaft 110 can also be designed to be connected to the projectile tube 200 and can drive the projectile tube 200 to rotate.
  • the stator assembly includes a stator base 131, a first end cover 134, and an ESC circuit board (not shown in the figure).
  • the stator base 131 is connected to and enclosed by the first end cover 134
  • the electrical appliance cavity 135 and the ESC circuit board are arranged in the electrical appliance cavity 135.
  • the ESC circuit board in the electrical appliance cavity 135 can rotate with the stator assembly, so that the ESC circuit board can maintain the motion synchronization with the motor and other components in the gimbal, and avoid the occurrence of wires between the motor and the ESC circuit board in the gimbal Problems such as pulling and winding.
  • the ESC control board is integrated in the first motor 100 to simplify the installation of the first motor 100 and the ESC control board, simplify the electrical connection between the ESC control board and the first motor 100, and improve the first motor 100 Reliability of electrical connection with ESC control board.
  • stator assembly may further include a stator light guide post 132.
  • the first motor 100 further includes a functional interface 137 (such as a connection terminal), and the functional interface 137 is electrically connected to the ESC circuit board.
  • the stator base 131 is provided with a second opening 1314 corresponding to the functional interface 137.
  • the functional interface 137 may include a communication interface and a power interface.
  • the second opening 1314 may be designed to be located on the first end cover 134, or the second opening 1314 may be provided on the stator base 131 and the first end cover 134, respectively, or the second opening 1314 may be formed in cooperation.
  • the number and shape of the second opening 1314 can be set according to actual needs, specifically according to the number and shape of the functional interface 137 or the connector, and this embodiment is not specifically limited here.
  • a wireless communication module may be provided on the ESC control board, so that the ESC control board can be communicatively connected with external components through the wireless communication module.
  • a motor shaft 110 is rotatably provided in the stator base 131, and the motor shaft 110 passes through the ESC circuit board and the first end cover 134 A third opening 1341 is formed on the through hole 111.
  • the projectile pipe 200 is connected to the first end cap 134 through the mounting plate 310, wherein one of the mounting plate 310 and the first end cap 134 is provided with a positioning protrusion, and the other is provided with a positioning groove.
  • the positioning protrusion is embedded in the positioning groove.
  • the positioning protrusion includes a first protrusion 1342, and the first end cover 134 is provided with a first protrusion 1342.
  • the first protrusion 1342 is ring-shaped and surrounds the third opening 1341 ,
  • the projection of the inner wall surface of the through hole 111 of the motor shaft 110 on the first end cover 134 coincides with the inner ring of the first protrusion 1342;
  • the positioning groove includes a first positioning groove 313, and the mounting plate 310 is provided with a first positioning groove 313, the first positioning groove 313 is adapted to the first protrusion 1342.
  • the first protrusion 1342 and the first positioning groove 313 can be used to form an assembly positioning instruction between the mounting plate 310 and the first motor 100, which is beneficial to ensure that the third opening 1341 and the through hole 111 of the motor shaft 110 are accurately aligned. Ensure effective communication between the projectile pipe 200 and the through hole 111 of the motor shaft 110.
  • the positioning protrusion further includes a second protrusion 1343, the center line of the second protrusion 1343 deviates from the axis of the motor shaft 110, and the positioning groove includes a second positioning groove, and the second positioning groove is The second protrusion 1343 is adapted.
  • the second protrusion 1343 and the second positioning groove can be used to form a quick-fit positioning between the mounting plate 310 and the first motor 100, and at the same time, the insertion and cooperation of the second protrusion 1343 and the second positioning groove is also beneficial to The transmission of shear stress between the mounting plate 310 and the first motor 100 improves the driving reliability.
  • the second protrusion 1343 may be provided on the first end cover 134, and the second positioning groove may be provided on the mounting plate 310.
  • the second protrusion 1343 has a ring shape. This is beneficial to ensure the molding quality of the second protrusion 1343 and avoid shrinkage and other undesirable problems.
  • the first end cover 134 is provided with a number of screw holes 1344 for the first end cover 134 and the mounting plate 310 to be connected by screws 138.
  • the second protrusion 1343 is formed in a ring shape, which can further Screw holes 1344 are provided therein, so as to realize the integrated distribution of the structure on the first end cover 134, reduce the weakening effect on the strength of the first end cover 134, and increase the strength of the first end cover 134.
  • the stator base 131 includes a seat body 1311 and a fixing portion 1312 extending from the seat body 1311 in a direction away from the first end cover 134; the motor shaft 110 and the fixing portion 1312
  • a first bearing 1381 is provided between the first bearing 1381 toward the base 1311 and a locking sleeve 139 on the motor shaft 110; a second bearing 1382 is provided between the motor shaft 110 and the fixed portion 1312.
  • the rotor The assembly includes a second end cap 121, which is sleeved on the motor shaft 110, and the end of the second bearing 1382 facing away from the seat 1311 abuts the second end cap 121; the inner wall of the fixing portion 1312 is provided with a limit extending inward In the position portion 1313, the end of the first bearing 1381 facing away from the seat 1311 abuts the end of the limit portion 1313, and the end of the second bearing 1382 facing the seat 1311 abuts the other end of the limit portion 1313.
  • the upper end of the first bearing 1381 abuts the limiting portion 1313 of the fixing portion 1312, the upper end of the locking sleeve 139 abuts the lower end of the first bearing 1381, so that the motor shaft 110 and the second end cap 121 can be restricted relative to the seat body 1311 moves upward; in addition, since the lower end of the second bearing 1382 abuts the limit portion 1313, the upper end of the second bearing 1382 abuts the second end cover 121, so that the motor shaft 110 and the second end cover 121 can be restricted relative to the seat The body 1311 moves downward.
  • the axial movement of the motor shaft 110 relative to the seat body 1311 can be restricted, so that the axial gap between the rotor assembly and the stator assembly in the first motor 100 can be eliminated, that is, the first motor 100 can be eliminated.
  • the axial movement of the motor shaft 110 further ensures the accuracy of the rotation speed and torque output by the first motor 100.
  • the locking sleeve 139 includes a screw sleeve, and the screw sleeve is disposed outside the motor shaft 110 and threadedly connected to the motor shaft 110.
  • the inner wall of the locking sleeve 139 is provided with an internal thread
  • the motor shaft 110 has a threaded section 112
  • the threaded section 112 is provided with an external thread.
  • the internal thread of the locking sleeve 139 is bonded to the external thread on the motor shaft 110, for example, Glue is injected between the internal thread of the locking sleeve 139 and the external thread on the motor shaft 110 to achieve further bonding between the internal thread of the locking sleeve 139 and the external thread on the motor shaft 110 to ensure the locking sleeve 139
  • the fixation reliability with the motor shaft 110 improves the effect of limiting the axial movement of the motor shaft 110.
  • a limiting groove 1345 is provided on the inner wall surface of the first end cover 134, and one end of the motor shaft 110 extends into the limiting groove 1345. This can form a limit at the end of the motor shaft 110 to avoid the problem of excessive amplitude or deflection at the end of the motor shaft 110 during the operation of the first motor 100, thereby avoiding the amplitude or deflection of the motor shaft 110
  • the motor shaft 110 collides with the ESC circuit board or other defects caused by excessive size.
  • the rotor assembly includes a rotor magnetic ring 122, an end of the locking sleeve 139 facing the seat body 1311 is connected with a mounting ring 1391, and the mounting ring 1391 is embedded with a rotor magnetic ring 122 .
  • the rotor magnetic ring 122 can be used for angle feedback of the first motor 100.
  • the second end cover 121 defines a fourth opening 1211 adapted to the through hole 111 for connecting the magazine 610 so that the projectile 700 is transported from the magazine 610 to the projectile launching device 500 through the through hole 111.
  • the magazine 610 is used to store projectiles.
  • the motor shaft 110 is fixedly disposed in the fourth opening 1211, so as to make the structure of the first motor 100 more compact; wherein, the motor shaft 110 can protrude upward from the second end cover 121 by a preset length.
  • the length is not specifically limited, and can be set according to actual needs.
  • the upper end of the second end cover 121 facing away from the first end cover 134 may be provided with a shallow groove, and the shallow groove may be provided concentrically with the fourth opening 1211.
  • the upper end of the motor shaft 110 is provided with a flange, and the flange is provided in the shallow In the groove; the flange can be glued or fastened to the second end cover 121 to improve the connection reliability of the motor shaft 110 and the second end cover 121.
  • stator assembly includes a stator iron core 133
  • rotor assembly further includes a rotor magnet 123 and a rotor yoke 124;
  • the rotor yoke 124 is nested and distributed outside the stator core 133 and can rotate relative to the stator core 133.
  • the gimbal further includes a second motor 400, which is used to drive the projectile launcher 500 to rotate, and the driving direction of the first motor 100 It is different from the driving direction of the second motor 400.
  • the second motor 400 is a pitch axis motor, which is used to drive the projectile launching device 500 to rotate around the pitch axis.
  • the pitch axis motor drives the projectile launching device 500 to rotate ⁇ degrees downward from the lateral direction (For example, 60 degrees), the projectile launching device 500 is driven to make a pitch rotation to change the launch direction.
  • the pitch angle threshold and the pitch angle threshold of the projectile launching device 500 can be adjusted by the driving stroke of the second motor 400, which is not specifically limited herein.
  • the first motor 100 is a yaw axis motor, which is used to drive the projectile pipe 200 to rotate around the yaw axis.
  • this structure can reduce the load of the pitch axis motor, making the controllability of the pitch axis motor better, and no need to set the transmission at the heading axis motor
  • the structure is used to drive the projectile pipe 200, which makes the structure of the yaw axis motor more simplified, and the direct drive of the first motor avoids the problems of response lag and precision reduction caused by the transmission mechanism.
  • the channel is set on the gimbal
  • the magazine 610 and the projectile launching device 500 can be arranged separately to avoid the problem of the accuracy of the gimbal control caused by the change of the center of gravity as the number of projectiles 700 in the magazine 610 decreases, and the projectile 700 can be realized
  • the capacity in the magazine 610 has increased from 200 rounds to 1,000 rounds or more.
  • the motor shaft 110 is a hollow shaft with an inner diameter of 18 mm, which can pass through a spherical projectile 700 of RM17 mm.
  • the end of the hollow shaft is an external thread with a nominal diameter of 20 and a pitch of 0.5.
  • the axial gap between the component and the stator component is a hollow shaft with an inner diameter of 18 mm, which can pass through a spherical projectile 700 of RM17 mm.
  • the end of the hollow shaft is an external thread with a nominal diameter of 20 and a pitch of 0.5.
  • the projectile pipe 200 includes a C-shaped pipe section 220 and a connecting elbow 210.
  • the C-shaped pipe section 220 and the connecting elbow 210 may be an integral part or a separate part in a positional relationship
  • one end of the C-shaped pipe section 220 is connected to the first motor 100 through a connecting elbow 210
  • the other end of the C-shaped pipe section 220 is used to connect the projectile launching device 500.
  • the shape of the projectile pipe 200 is beneficial to transfer the projectile 700 from the first motor 100 to the projectile launching device 500, especially when the gimbal includes the second motor 400, it may not cause the movement of the projectile launching device driven by the second motor 400 put one's oar in.
  • the connecting elbow 210 is a 90-degree elbow.
  • the C-shaped pipe section 220 can be understood as that the portion of the projectile pipe 200 is generally C-shaped rather than absolutely C-shaped, wherein the C-shaped pipe section 220 may specifically include a straight The tube portion 221 and the first elbow portion 222 and the second elbow portion 223 located at both ends of the straight tube portion 221.
  • the first elbow portion 222 and the second elbow portion 223 are preferably bent toward the same side of the straight tube portion 221.
  • the C-shaped pipe section 220 is used to connect the center line of one end of the projectile launching device 500 along the lateral direction, and the center line of the elbow 210 used to connect the first end of the first motor 100 is along the longitudinal direction.
  • the projectile launching system provided by the embodiment of the second aspect of the present invention includes: a projectile launching device 500; the gimbal described in any of the above technical solutions, the projectile launching device 500 is provided on the cloud platform .
  • the projectile launching system further includes a magazine assembly 600.
  • the magazine assembly 600 includes a magazine 610 and a projectile channel 620 connected to the magazine 610; A through hole 111 of a motor 100 communicates.
  • the projectile launching device 500 includes a launch tube 510, an acceleration tube 520, a friction wheel 530, and a driving assembly; as shown in FIGS. 2 and 5, the acceleration tube 520 is docked with the launch tube 510;
  • the friction wheel 530 includes two, the two friction wheels 530 are oppositely disposed on both sides of the acceleration tube 520, and the two friction wheels 530 are partially located in the acceleration tube 520 to resist the projectile 700 located in the acceleration tube 520;
  • the driving assembly It is used to drive the two friction wheels 530 to rotate toward the launch tube 510 at the same time, so that the projectile 700 accelerates into the launch tube 510 under the action of the rotational force of the two friction wheels 530; wherein, as shown in Figures 1, 2, and 4 As shown, when the emission direction of the emission tube 510 is the horizontal direction, the arrangement direction of the two friction wheels 530 is the vertical direction.
  • the arrangement direction of the two friction wheels 530 is also in the horizontal direction. This arrangement increases the lateral width of the gimbal, making the gimbal ’s lateral width The layout is not compact enough, and the space utilization rate is low.
  • the projectile launching device 500 when the projectile launching device 500 is installed on the gimbal in the related art, in order to prevent the structure in the gimbal (such as the second motor 400, the first mounting arm 320, The second mounting arm 330) interferes with the movement of the two friction wheels 530, and a lateral space needs to be reserved between the two friction wheels 530 and the above structure in the gimbal, which results in the launch tube 510 to the second motor 400 in the gimbal. The horizontal distance of the axis of rotation increases.
  • the arrangement direction of the two friction wheels 530 is vertical. This not only reduces the lateral width of the entire projectile launching device, improves the compactness and space utilization of product components, but also helps the friction wheel 530 to avoid the interference of the second motor 400, the first mounting arm 320, and the second mounting arm 330, thereby There is no need to reserve lateral space for avoidance, which is helpful to reduce the horizontal distance between the launch tube 510 and the rotation axis of the second motor 400. At the same time, it is beneficial to the counterweight design of the gimbal, without the need for additional counterweight, and also to prevent the output of the second motor 400 Unnecessary torque.
  • the driving assembly includes two driving motors 540, and the two driving motors 540 correspondingly drive the two friction wheels 530 to rotate.
  • the two drive motors 540 are used to drive the two friction wheels 530 to rotate, so that the peak output torque of a single drive motor 540 is not too large, and the torque output values on the two friction wheels 530 are also more accurate, which accelerates the energy efficiency of the pellet 700 higher.
  • a driving motor 540 can also be designed to simultaneously drive two friction wheels 530 to rotate through a transmission mechanism.
  • the driving motor 540 is an outer rotor motor
  • the friction wheel 530 is sleeved on the rotor shell of the outer rotor motor
  • the rotor shell is used to drive the friction wheel 530 to rotate.
  • the rotor shell may be a rotor part in the drive motor 540 or a stator part in the drive motor 540.
  • grooves 523 are provided on the opposite side walls of the acceleration tube 520 respectively, mounting holes 521 are opened in the grooves 523, and the friction wheel 530 It is partially located in the acceleration tube 520 through the mounting hole 521.
  • the groove 523 can make the mounting hole 521 sink into the acceleration tube 520 to a certain amount, so that the friction wheel 530 can be more easily embedded into the acceleration
  • the tube 520 drives the projectile 700, and the risk of the friction wheel 530 interfering with the acceleration tube 520 is reduced.
  • a mounting portion 522 is provided on the side wall of the groove 523, wherein the side wall of the groove 523 and the mounting portion 522 are detachably connected;
  • the mounting portion 522 includes a mounting body 5221 and
  • the mounting shell 5222 and the mounting shell 522 are provided on the mounting body 5221;
  • the mounting shell 522 is provided with an accommodating space 5223, and the driving motor 540 and the friction wheel 530 are located in the accommodating space 5223.
  • the use of the mounting shell 522 to accommodate the scrubbing wheel 530 can prevent the rotation of the scrubbing wheel 530 from being disturbed by external forces and ensure the accuracy and reliability of the power output of the scrubbing wheel 530 to the projectile 700.
  • the mounting shell 522 can be used to effectively separate the friction wire 530 from the lead wire of the main control board 550 in the projectile launcher 500 to avoid the friction wheel 530 affects the lead wires of the main control board 550.
  • the projectile launching device 500 further includes a projectile communication frame 580.
  • the projectile communication frame 580 is used to connect the acceleration tube 520 and the magazine 610. It can be understood that the acceleration tube 520 and the The cartridge 610 is not directly connected, but indirectly connected. More specifically, in this embodiment, the indirect connection between the acceleration tube 520 and the cartridge 610 may specifically be: cartridge 610-projectile channel 620-first The motor 100-the projectile pipe 200-the projectile communicating frame 580-the acceleration tube 520, and thus, the conduction of the magazine 610 to the acceleration tube 520 is realized.
  • FIG. 21 when the firing direction of the projectile launching device 500 is horizontal, one opening of the two grooves 523 faces upward and the other opens downward.
  • the mounting body 5221 On one side wall of the groove 523 with the opening facing upward, one end of the mounting shell 5222 is connected to the mounting body 5221, and the other end of the mounting shell 5222 is connected to the projectile communication frame 580.
  • the upper and lower side walls of the acceleration tube 520 are respectively provided with grooves 523, and the groove 523 on the upper side wall faces upward and is provided with mounting holes 521,
  • the groove 523 on the lower side wall opens downward and is provided with a mounting hole 521.
  • the mounting body 5221 of the mounting portion 522 is fixed to the side wall of the groove 523 on the upper side wall of the acceleration tube 520 by screws to realize the acceleration tube 520 and installation
  • the parts 522 are detachably assembled, and the mounting body 5221 and the acceleration tube 520 can also be detached and assembled in a snap-fit form by a snap-fit structure.
  • the friction wheel 530 cooperating with the mounting hole 521 on the upper side wall and the driving motor 540 for driving the friction wheel 530 are located in the mounting portion 522, and the friction wheel 530 in the mounting portion 522 passes through the mounting hole 521 and merges Partly located in the acceleration tube 520.
  • the above-mentioned up and down are not absolute directions of up and down. As the projectile launching device rotates in pitch, the up and down can also be understood as obliquely up and down.
  • the mounting shell 5222 of the mounting portion 522 is C-shaped, and its two ends correspond to the ends of the C-shaped opening, wherein one end of the mounting shell 5222 is fixed to the projectile communication frame by screws
  • the other end of the body 580 is disposed on the mounting body 5221, and is fixed to the mounting body 5221 by screws.
  • the projectile communication frame 580 and the projectile tube 200 form a rotational connection, that is, the projectile communication frame 580 and the projectile tube 200 can relatively rotate.
  • the projectile communication frame 580 and the projectile pipe 200 are connected by bearings, or a rotatable shaft hole is formed, etc., so that the projectile launching device 500 does not drive the projectile pipe 200 when it is pitched to ensure the projectile pipe 200 and its The connected connection assembly 300 and even the first motor 100 remain stable.
  • the projectile launching system further includes a main control board 550, which is located on the side of the two friction wheels 530 away from the launch tube 510, and the main control board 550 is electrically coupled with the drive assembly connection.
  • the vibration and thermal influences of the launch tube 510 that the main control board 550 is subjected to can be reduced, which is beneficial to improving the working environment of the main control board 550.
  • the launching device further includes an outer cover 560 for covering the main control board 550 and at least one friction wheel 530.
  • an outer cover 560 can play a role of dustproof and waterproof to the main control board 550 and at least one friction wheel 530, to ensure the life and reliability of the main control board 550 and at least one friction wheel 530, and also make the product more beautiful.
  • the two friction wheels 530 are arranged adjacent to the second motor 400.
  • This can shorten the distance between the friction wheel 530 and the second motor 400 and reduce the moment of inertia while ensuring the convenience of the wiring of the drive assembly and the second motor 400, which is conducive to improving the power output of the second motor 400 to the friction wheel
  • the direction control accuracy improves the shooting accuracy
  • the structure in which the two friction wheels 530 and the second motor 400 are adjacent to each other also facilitates the design of the gimbal counterweight and improves the overall stability of the gimbal.
  • the gimbal further includes a pitch axis arm 570 driven by the second motor 400.
  • the pitch axis arm 570 is connected to the drive motor 540 in the two friction wheels 530.
  • a robot provided by an embodiment of the third aspect of the present invention includes a chassis 800, a power mechanism mounted on the chassis 800 and used to drive the chassis 800 to move, and the projectile launching system described in any of the above technical solutions.
  • the projectile launching system is provided on the chassis 800.
  • the first motor 100 in the gimbal and the projectile channel 620 in the magazine assembly 600 are provided on opposite sides of the chassis 800. This is conducive to achieving stable assembly of the first motor 100 and further improving the control accuracy of the gimbal, and this design is also beneficial to improving the space utilization around the chassis 800, improving the compactness between the components of the product, and facilitating the development of product miniaturization.
  • the robot may be a land robot, such as an infantry robot, etc.
  • the power mechanism that drives the chassis 800 to move may include crawlers or wheels, etc.
  • the robot may also be designed as an aerial robot, specifically a drone, accordingly
  • the power mechanism that drives the chassis 800 to move may include aerodynamic components such as wings and fans, or the robot is designed to be an underwater or water robot, such as a boat or a submarine.
  • the power mechanism that drives the chassis 800 to move may include a water wheel, etc. Hydraulic components.
  • the first motor 100 in the gimbal and the magazine 610 of the magazine assembly 600 are located on the same side of the chassis 610 and the two are arranged side by side.
  • the projectile channel 620 in the magazine assembly 600 is provided at The other side of the chassis 800.
  • One end of the projectile channel 620 is directly or indirectly connected to the magazine 610, and the other end of the projectile channel 620 is directly or indirectly connected to one end of the through hole 111 of the motor shaft 110 of the first motor 100, and the other end of the through hole 111 passes
  • the projectile pipe 200 communicates with the projectile launching device 500.
  • the projectile 700 is stored in the magazine 610, and the path for the projectile 610 to deliver the projectile to the projectile launching device 500 is roughly as follows: projectile 610-projectile passage 620-through hole 111 of the first motor 100-projectile pipeline 200-projectile launching device 500.
  • the projectile 700 After the projectile 700 enters the projectile launching device 500, it can be accelerated by the friction wheel 530 in the acceleration tube 520, and is launched along the launch tube 510 after the acceleration is completed.
  • the gimbal, the projectile launching system and the robot connect the projectile pipe and the through hole on the motor shaft of the first motor to form a channel in the gimbal, which can be used to transport the projectile along the through hole and the projectile pipe to the projectile
  • the launching device satisfies the supply and transmission requirements between the projectile launching device and the magazine that are arranged separately from each other, and avoids the decrease in the accuracy of the gimbal and the capacity of the magazine due to the reduction of projectiles existing in the structure of the traditional projectile on the projectile launching device. Restrict big problems.
  • the projectile in this structure can be directly transmitted along the motor shaft of the first motor, so that it will not hinder the driving work of the first motor, and the integrated connection of driving and conduction between the projectile pipe and the first motor is realized, and There is no need to drive the projectile pipe through a large and complicated transmission mechanism.
  • the gimbal structure is simpler and smaller, and the control response speed and accuracy problems caused by the transmission mechanism are eliminated.
  • the compatibility effect is better, and the overall accuracy of the gimbal is improved accordingly.
  • connection may be a fixed connection, a detachable connection, or an integral connection; It is directly connected, or indirectly connected through an intermediary.

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Abstract

一种云台、弹丸发射系统及机器人，其中，云台包括第一电机(100)及弹丸管道(200)；弹丸管道(200)的一端用于连接弹丸发射装置(500)，另一端用于连接第一电机(100)，第一电机(100)用于驱动弹丸管道(200)转动；第一电机(100)包括电机轴(110)，电机轴(110)的内部形成有轴向贯穿的通孔(111)，且通孔(110)的孔径大于弹丸(700)的外径，以使得弹丸(700)能够依次通过通孔(111)、弹丸管道(200)并输送至弹丸发射装置(500)。该云台结构简单、体积小、整体精度得到提升。

Description

云台、弹丸发射系统及机器人 技术领域
本发明涉及云台技术领域，具体而言，涉及一种云台、一种弹丸发射系统及一种机器人。
背景技术
步兵机器人由于角色数量多、灵活、攻击速度快等优点，往往在比赛中发挥着相当重要的作用。其中，步兵机器人的弹仓容量决定了可持续作战时间，云台的稳定性在一定程度上决定了打击精度，这两方面因素对攻击力都有着比较大的影响。
传统的步兵机器人中，弹仓与弹丸发射装置集成为一体并共同置于云台的俯仰轴上，该结构存在的问题是：随着子弹数量减少，云台的控制会受到影响，从而进一步影响到打击精度，且由于云台的扭矩原因，会使得弹丸容量比较少，不能有效延长作战时间。
针对上述技术问题，现有技术提出了将弹仓从弹丸发射装置分离出的方案，以解决随子弹减少引起云台精度下降及对弹仓容量制约大的问题，但是，现有弹仓与弹丸发射装置分体设计的方案存在弹仓与弹丸发射装置之间的供弹链路难于设计、难于与云台兼容的问题，往往导致云台结构复杂化，云台精度整体下降等不良影响。
发明内容
有鉴于此，有必要提供一种能解决上述技术问题至少之一的云台。
一种云台，用于与弹丸发射装置连接，所述弹丸发射装置用于发射弹丸，其中，所述的云台包括第一电机、弹丸管道；所述弹丸管道的一端用于连接所述弹丸发射装置，另一端用于连接所述第一电机，所述第一电机用于驱动所述 弹丸管道转动；所述第一电机包括电机轴，所述电机轴的内部形成有轴向贯穿的通孔，且所述通孔的孔径大于所述弹丸的外径，以使得所述弹丸能够依次通过所述通孔、所述弹丸管道并输送至所述弹丸发射装置。
一种弹丸发射系统，包括：弹丸发射装置；上述任一技术方案中所述的云台，所述弹丸发射装置设于所述云台上。
一种机器人，包括：包括底盘、安装于所述底盘并用于驱动所述底盘移动的动力机构以及上述任一技术方案中所述的弹丸发射系统，所述弹丸发射系统设于所述底盘。
与现有技术相比，本申请具有以下有益的技术效果：本发明提供的云台，弹丸管道及第一电机的电机轴上的通孔连通形成通道，可供弹丸沿通孔、弹丸管道输送至弹丸发射装置，满足相互分开布置的弹丸发射装置与弹仓之间的供弹传输需求，避免传统的弹仓位于弹丸发射装置上而导致随弹丸减少引起的云台精度下降及对弹仓容量制约大的问题。同时，本结构中弹丸可直接沿第一电机的电机轴进行传输，这样不会阻碍到第一电机的驱动工作，且实现了弹丸管道与第一电机之间驱动及导通的集成式连接，而无需在满足弹丸输送的同时通过庞大、复杂的传动机构来驱动弹丸管道转动，这样，云台结构相对来说更简单、体积更小，且通过第一电机的直接驱动避免了由于传动机构带来的控制响应速度及精度问题，使得云台与弹丸发射装置之间的兼容效果更好，云台的整体精度得到相应提升。
本发明的附加方面和优点将在下面的描述部分中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是本发明一个实施例所述弹丸发射系统的主视结构示意图；
图2是图1中所示弹丸发射系统的剖视结构示意图；
图3是图1中所示弹丸发射系统的左视示意图；
图4是本发明一个实施例所述弹丸发射系统(去除外罩)主视结构示意图；
图5是本发明一个实施例所述弹丸发射系统(去除外罩)局剖结构示意图；
图6是图5中所示局剖结构的局部放大结构示意图；
图7是图4中所示弹丸发射系统的后视结构示意图；
图8是图4中所示弹丸发射系统的仰视结构示意图；
图9是图4中所示弹丸发射系统的立体结构示意图；
图10是图4中所示弹丸发射系统的发射管向下旋转α度后的结构示意图；
图11是图10中所示弹丸发射系统的立体结构示意图；
图12是图4中所示弹丸发射系统的分解结构示意图；
图13是图4中所示弹丸发射系统的分解结构的部分结构示意图；
图14是本发明一个实施例所述第一电机的立体结构示意图；
图15是图14中所示第一电机的侧视结构示意图；
图16是图14中所示第一电机的仰视结构示意图；
图17是图14中所示第一电机的剖视结构示意图；
图18是图14中所示第一电机的分解结构示意图；
图19是本发明一个实施例所述弹丸管道的结构示意图；
图20是本发明一个实施例所述弹丸发射装置的立体结构示意图；
图21是本发明一个实施例所述加速管的立体结构示意图。
其中，图1至图21中的附图标记与部件名称之间的对应关系为：
100第一电机，110电机轴，111通孔，112螺纹段，121第二端盖，1211第四开口，122转子磁环，123转子磁体，124转子磁轭，131定子底座，1311座体，1312固定部，1313限位部，1314第二开口，132定子导光柱，133定子铁芯，134第一端盖，1341第三开口，1342第一凸起，1343第二凸起，1344螺钉孔，1345限位槽，135电器容腔，137功能接口，138螺钉，1381第一轴承，1382第二轴承，139锁紧套，1391安装环，200弹丸管道，210连接弯头，211凹槽，220C形管段，221直管部，222第一弯管部，223第二弯管部，300连接组件，310安装板，311第一开口，312凸台，313第一定位槽，320第一安装臂，330第二安装臂，400第二电机，500弹丸发射装置，510发射管，520加速管，521安装孔，522安装部，5221安装本体，5222安装壳，5223容纳空间，523凹槽，530摩擦轮，540驱动电机，550主控板，560外罩，570边 板，580弹丸连通框体，600弹仓组件，610弹仓，620弹丸通道，700弹丸，800底盘。
具体实施方式
为了能够更清楚地理解本发明的上述目的、特征和优点，下面结合附图和具体实施方式对本发明进行进一步的详细描述。需要说明的是，在不冲突的情况下，本申请的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是，本发明还可以采用其他不同于在此描述的其他方式来实施，因此，本发明的保护范围并不受下面公开的具体实施例的限制。
本发明实施例，提供有一种云台。其中，云台可用于弹丸发射系统，弹丸发射系统可用于机器人，如陆地机器人(步兵机器人)、水下机器人、空中机器人等。该机器人可以由用户进行遥控。机器人具有底盘，云台设于底盘上，云台上可以设有诸如弹丸发射装置。多个机器人可以组队进行对抗击打，以形成机器人比赛。
下面参照图1至图21描述根据本发明一些实施例所述的云台、弹丸发射系统及机器人。
如图1和图2所示，本发明第一方面的实施例提供的云台，其可用于与弹丸发射装置500连接，弹丸发射装置500用于发射弹丸700，其中，云台包括：第一电机100及弹丸管道200。具体地，弹丸管道200的一端用于连接弹丸发射装置500，另一端连接第一电机100。可以理解的是，弹丸管道200与第一电机100之间可为直接连接或为通过居中部件实现的间接连接，实现第一电机100能驱动弹丸管道200转动。其中，第一电机100包括电机轴110，电机轴110的内部形成有轴向贯穿的通孔111，且通孔111的孔径大于弹丸700的外径，以使得弹丸700能够依次通过通孔111、弹丸管道200并输送至弹丸发射装置500。
其中，第一电机驱动弹丸管道200转动可以是用于实现弹丸700在弹丸管道200的转动，例如，当弹丸管道200为螺旋式管道时，通过弹丸管道200的转动，可以实现弹丸700的旋转运动。或者，也可以是通过驱动弹丸管道 200而带动弹丸发射装置500的转动或直接驱动弹丸发射装置500，以使得弹丸发射装置500有至少一个转动自由度，而实现多个角度的弹丸发射这样，利用第一电机100驱动弹丸管道200及弹丸发射装置500，弹丸管道200及弹丸发射装置500的转动同步性更可靠，弹丸管道200与弹丸发射装置500之间的连通效果更稳定、可靠。
可以理解，弹丸管道200可以与弹丸发射装置500固定连接，也可以转动转动，具体可以根据需要设置。
当然，在其他实施方式中，也可以使云台另外设置电机用于驱动弹丸发射装置500转动，并通过电控调节该用于驱动弹丸发射装置500的电机及第一电机100的方式，实现维持弹丸发射装置500与弹丸管道200的转动同步性，同样可以达到使弹丸管道200与弹丸发射装置500之间的连通效果更稳定、可靠的目的。本发明提供的云台，弹丸管道200及第一电机100的电机轴110上的通孔111连通形成通道，可供弹丸700沿通孔111、弹丸管道200输送至弹丸发射装置500，满足相互分开布置的弹丸发射装置500与弹仓610之间的供弹传输需求，避免传统的弹仓610位于弹丸发射装置500而导致随弹丸700减少引起的云台精度下降及对弹仓610容量制约大的问题。同时，本结构中弹丸700可直接沿第一电机100的电机轴110进行传输，这样不会阻碍到第一电机100的驱动工作，且实现弹丸管道200与第一电机100之间驱动及导通的集成式连接，而无需通过庞大、复杂的传动机构来驱动弹丸管道200转动，这样，云台结构更简单、体积更小，且通过第一电机的直接驱动避免了由于传动机构带来的控制响应速度及精度问题，使得云台与弹丸发射装置500之间的兼容效果更好，云台的整体精度得到相应提升。在本实施方式中，如图3所示，云台还包括连接组件300，连接组件300设于第一电机100上，用于支撑弹丸发射装置500；第一电机100还用于驱动连接组件300转动。这样，利用第一电机100同时驱动连接组件300、弹丸发射装置500及弹丸管道200转动，弹丸发射装置500与连接组件300之间的适配效果更好，且也更利于保证弹丸发射装置500与弹丸管道200之间的转动同步性，避免出现弹丸发射装置500与弹丸管道200之间因转动不同步出现扯管问题，从而提升了弹丸管道200与弹丸发射装置500的连接可靠性。
在本实施方式中，如图3所示，连接组件300包括安装板310、第一安装臂320和第二安装臂330；安装板310设于第一电机100上，第一安装臂320和第二安装臂330设于安装板310的两侧；第一安装臂320内形成有收容空间，弹丸管道200部分位于收容空间内。这样，利用第一安装臂320可形成对弹丸管道200支撑和定型的作用，确保弹丸管道200不会损伤和弯折，使得对弹丸700输送效果更可靠，且利用连接组件300也确保了弹丸发射装置500与弹丸管道200之间的连接刚度，确保弹丸发射装置500与弹丸管道200在第一电机100驱动下的转动同步性，同时，该连接组件300的结构也利于形成弹丸管道200与第一安装臂320之间的集成设计，进一步减小云台的整体体积。
在其他实施例中，也可设计第一电机100的电机轴110用于分别与弹丸发射装置500和弹丸管道200连接，例如，第一电机100的电机轴110与弹丸管道200连接(例如第一电机100的电机轴110与弹丸管道200之间通过联轴器连接)，且第一电机100的电机轴110通过居中部件(如安装板310及第二安装臂330)与弹丸发射装置500连接。
在本实施方式中，第一安装臂320与部分弹丸管道200为一体成型。如第一安装臂320与部分弹丸管道200一体注塑成型等，这样的结构可以节省穿管装配步骤，使得产品组装工序更简化，同时也可兼顾提升第一安装臂320与弹丸管道200之间的连接强度。
在本实施方式中，如图13所示，弹丸管道200的一端通过安装板310与第一电机100连接。其中，安装板310上设有适配通孔111的第一开口311，如图3所示，第一开口311位于第一安装臂320和第二安装臂330之间，用于连通弹丸管道200与电机轴110。通过设计第一开口311位于第一安装臂320和第二安装臂330之间，这样，第一电机100上的载荷基本关于电机轴110对称部分，有利于电机轴110的长期受力均衡，保证产品可靠性。
在本实施方式中，如图5、图6和图13所示，安装板310上设有凸台312，弹丸管道200上设有凹槽211，凸台312嵌入凹槽211中。这样，可以利用凸台312与凹槽211配合形成安装板310与弹丸管道200之间的装配定位指示，利于保证弹丸管道200与安装板310上的第一开口311准确对正，确保弹丸管道200与电机轴110的通孔111之间的有效连通，同时，凸台312与凹槽211 的嵌插配合也有利于安装板310与弹丸管道200之间的剪切应力传递，提升对弹丸管道200的驱动可靠性。
在其他实施方式中，也可设计弹丸管道200上设有凸台312，安装板310上设有凹槽211，凸台312嵌入凹槽211中。
在本实施方式中，优选地，如图6所示，安装板310的凸台312呈环形并围绕第一开口311，电机轴110的通孔111的内壁面在安装板310上的投影与安装板310的凸台312的内圈重合。这样，可使得第一开口311在通孔111与弹丸管道200之间形成平顺过渡，避免弹丸700经过第一开口311时出现卡滞问题。
在本实施方式中，第一电机100包括转子组件、定子组件及电机轴110，转子组件与电机轴110固定连接，定子组件与转子组件及电机轴110之间转动连接。
进一步地，定子组件与弹丸管道200相连并能驱动弹丸管道200转动。可以理解的是，定子组件与弹丸管道200之间可为直接连接或为通过居中部件(如安装板310)实现的间接连接。
在其他实施方式中，也可设计转子组件和/或电机轴110与弹丸管道200相连并能驱动弹丸管道200转动。
在本实施方式中，如图17所示，定子组件包括定子底座131、第一端盖134及电调电路板(图中未示出)，定子底座131与第一端盖134连接并合围形成电器容腔135，电调电路板设于电器容腔135内。这样，电器容腔135内的电调电路板可随定子组件转动，从而使得电调电路板能与云台中的电机等部件保持运动同步性，避免云台中电机与电调电路板之间出现导线拉扯、缠绕等问题。同时，将电调控制板集成在第一电机100内，以简化第一电机100及电调控制板的安装，简化电调控制板与第一电机100的电连接，且能够提高第一电机100与电调控制板之间的电连接的可靠性。
可选地，定子组件还可包括定子导光柱132。
在本实施方式中，如图10、图13、图14、图15及图18所示，第一电机100还包括功能接口137(例如接线端子)，功能接口137与电调电路板电连接，定子底座131上设有对应功能接口137的第二开口1314。这样，可形成 受第一电机100驱动的弹丸发射装置500与功能接口137之间同步转动，以使得弹丸发射装置500至功能接口137的导线能基本保持相对静止，避免导线缠绕等问题。其中，功能接口137可以包括通信接口和电源接口。
在其他实施方式中，也可设计第二开口1314位于第一端盖134上，或者，在定子底座131及第一端盖134上分别设有第二开口1314或配合形成有第二开口1314。第二开口1314的数量及形状可根据实际需要进行设置，具体可根据功能接口137或者连接器的数量及形状进行设置，本实施例此处不做具体限定。当然，电调控制板上可设置有无线通信模块，以使电调控制板可通过无线通信模块与外部部件通信连接。
在本实施方式中，如图13、图14、图15及图18所示，定子底座131中可转动地设置有电机轴110，且电机轴110穿过电调电路板，第一端盖134上设有适配通孔111的第三开口1341。
在本实施方式中，弹丸管道200通过安装板310与第一端盖134连接，其中，安装板310与第一端盖134中的一个上设有定位凸起，另一个上设有定位槽，定位凸起嵌入定位槽中。
更具体而言，如图13和图15所示，定位凸起包括第一凸起1342，第一端盖134设有第一凸起1342，第一凸起1342呈环形并围绕第三开口1341，电机轴110的通孔111的内壁面在第一端盖134上的投影与第一凸起1342的内圈重合；定位槽包括第一定位槽313，安装板310上设有第一定位槽313，第一定位槽313与第一凸起1342适配。这样，可以利用第一凸起1342与第一定位槽313配合形成安装板310与第一电机100之间的装配定位指示，利于保证第三开口1341与电机轴110的通孔111准确对正，确保弹丸管道200与电机轴110的通孔111之间的有效连通。
另外，如图13和图15所示，定位凸起还包括第二凸起1343，第二凸起1343的中心线偏离电机轴110的轴线，定位槽包括第二定位槽，第二定位槽与第二凸起1343适配。这样，可以利用第二凸起1343与第二定位槽配合形成安装板310与第一电机100之间的快装定位，同时，第二凸起1343与第二定位槽的嵌插配合也有利于安装板310与第一电机100之间的剪切应力传递，提升驱动可靠性。其中，第二凸起1343可以设于第一端盖134上，第二定位槽 可以设于安装板310上。
优选地，如图16所示，第二凸起1343呈环形。这样有利于保证第二凸起1343的成型质量，避免缩水等不良问题。且更具体而言，第一端盖134上设有若干螺钉孔1344以供第一端盖134与安装板310之间通过螺钉138连接，本方案设计第二凸起1343呈环形，可进一步在其内设置螺钉孔1344，如此以实现第一端盖134上结构集成化分布，减少对第一端盖134的强度的削弱影响，提升第一端盖134强度。
在本实施方式中，如图17和图18所示，定子底座131包括座体1311以及从座体1311往背离第一端盖134的方向延伸的固定部1312；电机轴110与固定部1312之间设置有第一轴承1381，第一轴承1381朝向座体1311的一端抵设有位于电机轴110上的锁紧套139；电机轴110与固定部1312之间还设置有第二轴承1382，转子组件包括第二端盖121，第二端盖121套设在电机轴110上，第二轴承1382背离座体1311的一端与第二端盖121相抵；固定部1312内壁设置有向内延伸的限位部1313，第一轴承1381背离座体1311的一端与限位部1313的一端相抵，第二轴承1382朝向座体1311的一端与限位部1313的另一端相抵。
由于第一轴承1381的上端与固定部1312的限位部1313相抵，锁紧套139的上端与第一轴承1381的下端相抵，如此，能够限制电机轴110及第二端盖121相对于座体1311向上移动；此外，由于第二轴承1382的下端与限位部1313相抵，第二轴承1382的上端与第二端盖121相抵，如此，能够限制电机轴110及第二端盖121相对于座体1311向下移动。
因此，本实施例中，能够限制电机轴110相对于座体1311的轴向移动，从而能够消除第一电机100中转子组件与定子组件之间的轴向间隙，也即消除第一电机100中电机轴110的轴向窜动，进而保证第一电机100输出的转速及扭矩的精确性。
优选地，如图17所示，锁紧套139包括螺套，螺套套设在电机轴110外侧并与电机轴110螺纹连接。
进一步地，锁紧套139的内壁设置有内螺纹，电机轴110具有螺纹段112，螺纹段112设置有外螺纹，锁紧套139的内螺纹与电机轴110上的外螺纹粘接， 例如，向锁紧套139的内螺纹与电机轴110上的外螺纹之间注入胶水，实现使锁紧套139的内螺纹与电机轴110上的外螺纹之间进一步粘接，以保证锁紧套139与电机轴110的固定可靠性，提高对电机轴110轴向窜动的限制效果。
在本实施方式中，如图17和图18所示，第一端盖134的内壁面上设有限位槽1345，电机轴110的一端伸入限位槽1345内。这样可以在电机轴110的末端形成限位，避免第一电机100运转过程中，其电机轴110的末端部位出现振幅或偏位量过大的问题，从而避免因电机轴110振幅或偏位量过大而引起的电机轴110碰撞电调电路板等不良情形。
在本实施方式中，如图17和图18所示，转子组件包括转子磁环122，锁紧套139朝向座体1311的一端连接有安装环1391，安装环1391内嵌设有转子磁环122。利用转子磁环122，可用于第一电机100的角度反馈。
进一步地，第二端盖121开设有适配通孔111的第四开口1211，用于连接弹仓610，以使弹丸700由弹仓610通过通孔111输送至弹丸发射装置500。其中，弹仓610用于存储弹丸。
其中，电机轴110固定设置在第四开口1211中，以使得第一电机100的结构更加紧凑；其中，电机轴110可向上伸出第二端盖121预设长度，本实施例对于该预设长度不做具体限定，可根据实际需要进行设置。
其中，第二端盖121背离第一端盖134的上端可设有浅槽，浅槽可与第四开口1211同心设置，相应对，电机轴110的上端设置有凸缘，凸缘设置在浅槽中；凸缘可与第二端盖121粘接或者紧固连接，以提高电机轴110与第二端盖121的连接可靠性。进一步地，定子组件包括定子铁芯133，转子组件还包括转子磁体123和转子磁轭124；转子磁体123设于转子磁轭124的内壁上，转子磁轭124固定于第二端盖121，且转子磁轭124嵌套分布于定子铁芯133的外侧并能相对于定子铁芯133旋转。
在本实施方式中，如图4、图9、图10和图11所示，云台还包括第二电机400，第二电机400用于驱动弹丸发射装置500转动，第一电机100的驱动方向不同于第二电机400的驱动方向。
更具体如，第二电机400为俯仰轴电机，用于驱动弹丸发射装置500绕俯仰轴转动。如图4和图9所示，为弹丸发射装置500的发射管510大致沿横向 时的状态，如图10和图11所示，为俯仰轴电机驱动弹丸发射装置500从横向向下旋转α度(例如60度)后的状态，以通过驱动弹丸发射装置500做俯仰转动以改变发射方向。其中，可以理解的是，弹丸发射装置500的俯仰角度阈值和俯仰角度阈值可通过第二电机400的驱动行程进行调整，在此不做具体限定。
进一步地，如图4、图9、图10和图11所示，第一电机100为偏航轴电机，用于驱动弹丸管道200绕偏航轴转动。较之传统的将弹仓设置在弹丸发射装置上的结构而言，通过本结构，可以减轻俯仰轴电机的负载，使得俯仰轴电机的可控性更好，且航向轴电机处无需再设置传动结构用于驱动弹丸管道200，使得航向轴电机处的结构更简化，且通过第一电机的直接驱动避免了由于传动机构带来的响应滞后及精度降低等问题，同时，通过云台上设置通道对弹丸700输送，可以将弹仓610与弹丸发射装置500分开布置，可以避免随着弹仓610内弹丸700数量减少而导致重心变化带来的云台控制精度的问题，且可以实现将弹丸700在弹仓610中的容量从原来的200发增加到1000发甚至以上。
在本实施方式中，电机轴110为内径18mm的空心轴，可以透过RM17mm的球形弹丸700，空心轴末端为公称直径20，螺距0.5的外螺纹，配合锁紧套139的内螺纹以消除转子组件与定子组件的轴向间隙。
在本实施方式中，如图19所示，弹丸管道200包括C形管段220和连接弯头210，C形管段220和连接弯头210之间可为一体部件或为分体部件，在位置关系上，C形管段220的一端通过连接弯头210与第一电机100相连，C形管段220的另一端用于连接弹丸发射装置500。该造型的弹丸管道200有利于将弹丸700由第一电机100传输至弹丸发射装置500，尤其是当云台包括第二电机400时，可以不对由第二电机400驱动的弹丸发射装置的运动造成干涉。
优选地，连接弯头210为90度弯头。
更具体而言，如图19所示，C形管段220可以理解为弹丸管道200的该部分大致呈C形而非绝对呈C形，其中，C形管段220可具体包括大致呈直线形的直管部221及位于直管部221两端的第一弯管部222和第二弯管部223，第一弯管部222和第二弯管部223优选朝向直管部221的同一侧弯曲。
优选地，C形管段220用于连接弹丸发射装置500的一端的中心线沿横向，连接弯头210用于连接第一电机100的一端的中心线沿纵向。
如图1和图2所示，本发明第二方面的实施例提供的弹丸发射系统，包括：弹丸发射装置500；上述任一技术方案所述的云台，弹丸发射装置500设于云台上。
更具体而言，如图4和图9所示，弹丸发射系统还包括弹仓组件600，弹仓组件600包括弹仓610以及与弹仓610连接的弹丸通道620；弹丸通道620与云台中第一电机100的通孔111连通。
在本实施方式中，如图20所示，弹丸发射装置500包括发射管510、加速管520、摩擦轮530以及驱动组件；如图2和图5所示，加速管520与发射管510对接；摩擦轮530包括两个，两个摩擦轮530相对设置在加速管520的两侧，且两个摩擦轮530均部分位于加速管520内，以抵持位于加速管520内的弹丸700；驱动组件用于驱动两个摩擦轮530同时朝着发射管510的方向旋转，以使得弹丸700在两个摩擦轮530的旋转力作用下加速进入发射管510；其中，如图1、图2、图4所示，当发射管510的发射方向为水平方向时，两个摩擦轮530的排布方向为竖直方向。
相关技术中，当弹丸发射装置500发射弹丸700的方向为水平方向时，两个摩擦轮530的排布方向也处于水平方向，这种排布方式增加了云台的横向宽度，使得云台的布局不够紧凑，空间利用率低；另外，相关技术中在将弹丸发射装置500设于云台上时，为防止云台中的结构(如本结构中的第二电机400、第一安装臂320、第二安装臂330)干扰两个摩擦轮530的运动，需要在两个摩擦轮530和云台中的上述结构之间预留一个横向空间，这就导致发射管510至云台中第二电机400的旋转轴线的水平距离增加。然而，为了确保发射管510的稳定性以稳定发射弹丸700，通常要在后端结构增加额外配重，以使得云台中诸如第二电机的驱动部件的重心后移，故上述两个摩擦轮530的排布方式也不利于云台的配重设计。
而本设计中，通过设计当发射管510的发射方向为水平方向时，两个摩擦轮530的排布方向为竖直方向。这样不仅可以减少整个弹丸发射装置的横向宽度，提升产品部件紧凑性和空间利用率，且利于使摩擦轮530避开第二电机 400、第一安装臂320、第二安装臂330的干扰，从而无须预留横向空间进行避让，有利于减少发射管510至第二电机400的旋转轴线的水平距离，同时利于云台的配重设计，无需额外进行配重，也有利于防止第二电机400输出不必要的扭矩。
在本实施方式中，如图2和图5所示，驱动组件包括两个驱动电机540，两个驱动电机540对应驱动两个摩擦轮530转动。利用两个驱动电机540分别驱动两个摩擦轮530转动，这样，单个驱动电机540的输出扭矩峰值不至于过大，且两个摩擦轮530上的扭矩输出值也更加精确，对弹丸700加速能效更高。
在其他实施方式中，也可设计由一个驱动电机540通过传动机构实现同时驱动两个摩擦轮530转动。
优选地，如图5所示，驱动电机540为外转子电机，摩擦轮530套设在外转子电机的转子壳上，转子壳用于带动摩擦轮530转动。其中，转子壳可以为驱动电机540中的转子部分，也可以为驱动电机540中的定子部分。利用外转子电机驱动摩擦轮530，可以实现小转速、大转矩输出，使得摩擦轮530对弹丸700的摩檫力加速效果更好，且通过将摩擦轮530直接套设在外转子电机的转子壳上，可以使得摩擦轮530与驱动电机540之间的传动损失小，对于低转速传动而言，传动精度也能得到更有效地保证。
在本实施方式中，如图9、图11、图12和图21所示，加速管520上的相对侧壁上分别设有凹槽523，凹槽523内开设有安装孔521，摩擦轮530通过安装孔521部分位于加速管520内。本结构中，通过将安装孔521设于凹槽523的壁上，利用凹槽523可使得安装孔521向加速管520内具有一定的沉入量，这样，摩擦轮530能更容易地嵌入加速管520实现对弹丸700驱动，且摩擦轮530与加速管520干涉的风险性降低。
进一步地，如图5所示，凹槽523的侧壁上设有安装部522，其中，凹槽523的侧壁与安装部522之间为可拆卸地连接；安装部522包括安装本体5221和安装壳5222，安装壳522设于安装本体5221上；安装壳522内设有容纳空间5223，驱动电机540以及摩擦轮530位于容纳空间5223内。利用安装壳522容纳摩檫轮530，这样可以避免摩檫轮530的旋转运动受到外力干扰，保证摩檫轮530对弹丸700动力输出的精准性和可靠性，且利用安装壳522也可避免 将摩擦轮530与弹丸发射装置500中其它部件的摩擦而造成的磨损，例如，利用安装壳522可以实现将摩擦轮530与弹丸发射装置500中主控板550的引出导线有效隔开，避免摩擦轮530影响主控板550的引出导线。
更进一步地，如图2和图5所示，弹丸发射装置500还包括弹丸连通框体580，弹丸连通框体580用于连接加速管520及弹仓610，可以理解的是，加速管520与弹仓610之间并非直接连接，而是间接连接，更具体而言，本实施方式中，加速管520与弹仓610之间的间接连接具体可为：弹仓610-弹丸通道620-第一电机100-弹丸管道200-弹丸连通框体580-加速管520，如此，实现弹仓610向加速管520导通。
其中，如图21所示，当弹丸发射装置500的发射方向为水平方向时，两个凹槽523中的一个开口朝上，另一个开口朝下，其中，如图5所示，安装本体5221设于开口朝上的凹槽523的一侧壁上，安装壳5222的一端与安装本体5221连接，安装壳5222的另一端与弹丸连通框体580连接。
更具体而言，如图2、图5和图21所示，加速管520的上下侧壁上分别设有凹槽523，上侧壁上的凹槽523开口朝上并设有安装孔521，下侧壁上的凹槽523开口朝下并设有安装孔521，安装部522的安装本体5221通过螺钉固定于加速管520上侧壁的凹槽523的侧壁上，实现加速管520与安装部522之间可拆卸地装配，安装本体5221与加速管520之间也可通过卡接结构实现卡接形式的卡拆卸装配。其中，与上侧壁上的安装孔521配合的摩擦轮530及用于驱动该摩擦轮530的驱动电机540均位于安装部522内，且安装部522内的该摩擦轮530通过安装孔521并部分位于加速管520内。值得说明的是，前述所描述的上、下并非绝对方向的上、下，随着弹丸发射装置的俯仰转动，该上、下也可相应理解为斜上、斜下。
更具体地，如图5和图12所示，安装部522的安装壳5222呈C形，其两端对应为C形开口的两端，其中，安装壳5222的一端通过螺钉固定于弹丸连通框体580，另一端设于安装本体5221上，并通过螺钉与安装本体5221固定。
可以理解的是，本实施方式中，弹丸连通框体580与弹丸管道200之间形成转动连接，也即弹丸连通框体580与弹丸管道200能相对转动。例如，弹丸 连通框体580与弹丸管道200通过轴承连接，或形成可转动形式地轴孔配合等，这样，弹丸发射装置500进行俯仰转动时不会带动弹丸管道200，以确保弹丸管道200及与之连接的连接组件300甚至第一电机100保持平稳。
在本实施方式中，如图20所示，弹丸发射系统还包括主控板550，主控板550位于两个摩擦轮530远离发射管510的一侧，且主控板550与驱动组件电耦合连接。这样在保证驱动组件与主控板550接线方便性的同时，可以减少主控板550受到的来自于发射管510的振动影响和热影响，利于改善主控板550的工作环境。
在本实施方式中，如图1至图3所示，发射装置还包括外罩560，外罩560用于罩设主控板550和至少一个摩擦轮530。利用外罩560可以起到对主控板550及至少一个摩擦轮530防尘防水的作用，保证主控板550及至少一个摩擦轮530的寿命和可靠性，且也使得产品也更具美观性。
在本实施方式中，如图7所示，当云台包括第二电机400时，两个摩擦轮530与第二电机400相邻设置。这样在保证驱动组件及第二电机400走线方便性的同时，可以缩短摩擦轮530与第二电机400之间的距离，减少转动惯量，这样有利于提升第二电机400对摩檫轮动力输出方向的控制精准性，提升射击精度，且该两个摩擦轮530与第二电机400相邻设置的结构也利于云台配重设计，提升云台整体平稳性。
在本实施方式中，如图4所示，云台还包括由第二电机400驱动的俯仰轴轴臂570，俯仰轴轴臂570与两个摩擦轮530内的驱动电机540连接。
本发明第三方面的实施例提供的机器人，机器人包括底盘800、安装于底盘800并用于驱动底盘800移动的动力机构以及上述任一技术方案中所述的弹丸发射系统，弹丸发射系统设于底盘800。
在本实施方式中，如图7和图8所示，云台中的第一电机100与弹仓组件600中的弹丸通道620设于底盘800的相对两侧。这样有利于实现第一电机100装配平稳，进一步提升云台控制精度，且这样设计也有利于提升对底盘800周围的空间利用率，提升产品的部件之间的紧凑性，利于产品小型化发展。
优选地，机器人可为陆地机器人，具体如步兵机器人等，相应地，驱动底盘800移动的动力机构可包含履带或车轮等，当然，也可设计机器人为空中机 器人，具体例如无人机，相应地，驱动底盘800移动的动力机构可包含机翼、风扇等空气动力部件，或者设计机器人为水下或水上机器人，具体例如船或潜艇，相应地，驱动底盘800移动的动力机构可包含水轮等水力部件。
更具体而言，如图2所示，云台中的第一电机100与弹仓组件600的弹仓610位于底盘610的同一侧且两者并排分布，弹仓组件600中的弹丸通道620设于底盘800的另一侧。
弹丸通道620的一端直接或间接地连接于弹仓610，弹丸通道620的另一端直接或间接地连接于第一电机100的电机轴110的通孔111的一端，该通孔111的另一端通过弹丸管道200与弹丸发射装置500连通。
其中，弹仓610中储存有弹丸700，弹仓610向弹丸发射装置500输送弹丸的路径大致为：弹仓610-弹丸通道620-第一电机100的通孔111-弹丸管道200-弹丸发射装置500。
弹丸700进入弹丸发射装置500中后，可在加速管520中经摩擦轮530加速，并在完成加速后沿发射管510发射出。
综上所述，本发明提供的云台、弹丸发射系统及机器人，云台中使弹丸管道及第一电机的电机轴上的通孔连通形成通道，可供弹丸沿通孔、弹丸管道输送至弹丸发射装置，满足相互分开布置的弹丸发射装置与弹仓之间的供弹传输需求，避免传统的弹仓位于弹丸发射装置上结构中所存在的随弹丸减少引起云台精度下降及对弹仓容量制约大的问题。同时，本结构中弹丸可直接沿第一电机的电机轴进行传输，这样不会阻碍到第一电机的驱动工作，且实现弹丸管道与第一电机之间驱动及导通的集成式连接，而无需通过庞大、复杂的传动机构来驱动弹丸管道转动，这样，云台结构更简单、体积更小，并去除了由于传动机构带来的控制响应速度及精度问题，云台与弹丸发射装置之间的兼容效果更好，云台的整体精度得到相应提升。
在本发明中，术语“第一”、“第二”、“第三”仅用于描述的目的，而不能理解为指示或暗示相对重要性；术语“多个”则指两个或两个以上，除非另有明确的限定。术语“安装”、“相连”、“连接”、“固定”等术语均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；“相连”可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言， 可以根据具体情况理解上述术语在本发明中的具体含义。
本发明的描述中，需要理解的是，术语“上”、“下”、“左”、“右”、“前”、“后”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或单元必须具有特定的方向、以特定的方位构造和操作，因此，不能理解为对本发明的限制。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (41)

  1. 一种云台，用于与弹丸发射装置连接，所述弹丸发射装置用于发射弹丸，其特征在于，所述云台包括第一电机、弹丸管道；
    所述弹丸管道的一端用于连接所述弹丸发射装置，另一端用于连接所述第一电机，所述第一电机用于驱动所述弹丸管道转动；
    所述第一电机包括电机轴，所述电机轴的内部形成有轴向贯穿的通孔，且所述通孔的孔径大于所述弹丸的外径，以使得所述弹丸能够依次通过所述通孔、所述弹丸管道并输送至所述弹丸发射装置。
  2. 根据权利要求1所述的云台，其特征在于，
    所述云台还包括连接组件，所述连接组件设于所述第一电机上，用于支撑所述弹丸发射装置；
    所述第一电机还用于驱动所述连接组件转动。
  3. 根据权利要求2所述的云台，其特征在于，
    所述连接组件包括安装板、第一安装臂和第二安装臂；
    所述安装板设于所述第一电机上，所述第一安装臂和所述第二安装臂设于所述安装板的两侧；
    所述第一安装臂内形成有收容空间，所述弹丸管道部分位于所述收容空间内。
  4. 根据权利要求3所述的云台，其特征在于，
    所述第一安装臂与部分所述弹丸管道为一体成型。
  5. 根据权利要求3所述的云台，其特征在于，
    所述弹丸管道通过所述安装板与所述第一电机连接，其中，所述安装板上设有适配所述通孔的第一开口，所述第一开口位于所述第一安装臂和所述第二安装臂之间，用于连通所述弹丸管道与所述电机轴。
  6. 根据权利要求5所述的云台，其特征在于，
    所述安装板和所述弹丸管道中的一个上设有凸台，另一个上设有凹槽，所述凸台嵌入所述凹槽中。
  7. 根据权利要求6所述的云台，其特征在于，
    所述安装板上设有所述凸台，所述凸台呈环形并围绕所述第一开口，所述电机轴的所述通孔的内壁面在所述安装板上的投影与所述凸台的内圈重合。
  8. 根据权利要求1所述的云台，其特征在于，
    所述第一电机包括转子组件、定子组件及所述电机轴，所述转子组件与所述电机轴固定，所述定子组件与所述转子组件及所述电机轴之间转动连接。
  9. 根据权利要求8所述的云台，其特征在于，
    所述定子组件与所述弹丸管道相连并能驱动所述弹丸管道转动。
  10. 根据权利要求9所述的云台，其特征在于，
    所述定子组件包括定子底座、第一端盖及电调电路板，所述定子底座与所述第一端盖连接并合围形成电器容腔，所述电调电路板设于所述电器容腔内。
  11. 根据权利要求10所述的云台，其特征在于，
    所述第一电机还包括功能接口，所述功能接口与所述电调电路板电连接，所述定子底座和/或所述第一端盖上设有对应所述功能接口的第二开口。
  12. 根据权利要求10所述的云台，其特征在于，
    所述定子底座中可转动地设置有所述电机轴，且所述电机轴穿过所述电调电路板，所述第一端盖上设有适配所述通孔的第三开口。
  13. 根据权利要求12所述的云台，其特征在于，
    所述弹丸管道通过安装板与所述第一端盖连接，其中，所述安装板与所述第一端盖中的一个上设有定位凸起，另一个上设有定位槽，所述定位凸起嵌入所述定位槽中。
  14. 根据权利要求13所述的云台，其特征在于，
    所述定位凸起包括第一凸起，所述第一端盖设有所述第一凸起，所述第一凸起呈环形并围绕所述第三开口，所述通孔的内壁面在所述第一端盖上的投影与所述第一凸起的内圈重合；
    所述定位槽包括第一定位槽，所述安装板上设有所述第一定位槽，所述第一定位槽与所述第一凸起适配。
  15. 根据权利要求13所述的云台，其特征在于，
    所述定位凸起包括第二凸起，所述第二凸起的中心线偏离所述电机轴的轴 线，所述定位槽包括第二定位槽，所述第二定位槽与所述第二凸起适配。
  16. 根据权利要求15所述的云台，其特征在于，
    所述第二凸起呈环形。
  17. 根据权利要求10所述的云台，其特征在于，
    所述定子底座包括座体以及从所述座体往背离所述第一端盖的方向延伸的固定部；
    所述电机轴与所述固定部之间设置有第一轴承，所述第一轴承朝向所述座体的一端抵设有位于所述电机轴上的锁紧套；
    所述电机轴与所述固定部之间还设置有第二轴承，所述第二轴承背离所述座体的一端与所述转子组件中的第二端盖相抵，所述第二端盖套设在所述电机轴上；
    所述固定部内壁设置有向内延伸的限位部，所述第一轴承背离所述座体的一端与所述限位部的一端相抵，所述第二轴承朝向所述座体的一端与所述限位部的另一端相抵。
  18. 根据权利要求17所述的云台，其特征在于，
    所述锁紧套包括螺套，所述螺套套设在所述电机轴外侧并与所述电机轴螺纹连接。
  19. 根据权利要求18所述的云台，其特征在于，
    所述锁紧套的内壁设置有内螺纹，所述电机轴具有螺纹段，所述螺纹段设置有外螺纹，所述锁紧套的内螺纹与所述电机轴上的外螺纹粘接。
  20. 根据权利要求10所述的云台，其特征在于，
    所述第一端盖的内壁面上设有限位槽，所述电机轴的一端伸入所述限位槽内。
  21. 根据权利要求17所述的云台，其特征在于，
    所述转子组件包括转子磁环，所述锁紧套朝向所述座体的一端连接有安装环，所述安装环内嵌设有所述转子磁环。
  22. 根据权利要求17所述的云台，其特征在于，
    所述第二端盖开设有适配所述通孔的第四开口，用于连接弹仓，以使所述弹丸由所述弹仓通过所述通孔输送至所述弹丸发射装置。
  23. 根据权利要求17所述的云台，其特征在于，
    所述定子组件包括定子铁芯，所述转子组件还包括转子磁体和转子磁轭；
    所述转子磁体设于所述转子磁轭的内壁上，所述转子磁轭固定于所述第二端盖，且所述转子磁轭嵌套分布于所述定子铁芯的外侧并能相对于所述定子铁芯旋转。
  24. 根据权利要求1所述的云台，其特征在于，
    所述云台还包括第二电机，所述第二电机用于驱动所述弹丸发射装置转动，所述第一电机的驱动方向不同于所述第二电机的驱动方向。
  25. 根据权利要求24所述的云台，其特征在于，
    所述第二电机为俯仰轴电机，用于驱动所述弹丸发射装置绕俯仰轴转动。
  26. 根据权利要求1或24或25所述的云台，其特征在于，
    所述第一电机为偏航轴电机，用于驱动所述弹丸管道绕偏航轴转动。
  27. 根据权利要求1所述的云台，其特征在于，
    所述弹丸管道包括C形管段和连接弯头，所述C形管段的一端通过所述连接弯头与所述第一电机相连，所述C形管段的另一端用于连接所述弹丸发射装置。
  28. 根据权利要求27所述的云台，其特征在于，
    所述C形管段用于连接所述弹丸发射装置的一端的中心线沿横向，所述连接弯头用于连接所述第一电机的一端的中心线沿纵向。
  29. 一种弹丸发射系统，其特征在于，包括：
    弹丸发射装置；
    如权利要求1至28中任一项所述的云台，所述弹丸发射装置设于所述云台上。
  30. 根据权利要求29所述的弹丸发射系统，其特征在于，
    所述弹丸发射系统还包括弹仓组件，所述弹仓组件包括弹仓以及与所述弹仓连接的弹丸通道；
    所述弹丸通道与所述云台中第一电机的通孔连通。
  31. 根据权利要求29所述的弹丸发射系统，其特征在于，
    所述弹丸发射装置包括发射管、加速管、可形变的摩擦轮以及驱动组件；
    所述加速管与所述发射管对接；
    所述摩擦轮包括两个，两个所述摩擦轮相对设置在所述加速管的两侧，且两个所述摩擦轮均部分位于所述加速管内，以抵持位于所述加速管内的弹丸；
    所述驱动组件用于驱动两个所述摩擦轮同时朝着所述发射管的方向旋转，以使得所述弹丸在两个所述摩擦轮的旋转力作用下加速进入所述发射管；
    其中，当所述发射管的发射方向为水平方向时，两个所述摩擦轮的排布方向为竖直方向。
  32. 根据权利要求31所述的弹丸发射系统，其特征在于，
    所述驱动组件包括两个驱动电机，两个所述驱动电机对应驱动两个所述摩擦轮转动。
  33. 根据权利要求32所述的弹丸发射系统，其特征在于，
    所述驱动电机为外转子电机，所述摩擦轮套设在所述外转子电机的转子壳上，所述转子壳用于带动所述摩擦轮转动。
  34. 根据权利要求32所述的弹丸发射系统，其特征在于，
    所述加速管上的相对侧壁上分别设有凹槽，所述凹槽内开设有安装孔，所述摩擦轮通过所述安装孔部分位于所述加速管内。
  35. 根据权利要求34所述的弹丸发射系统，其特征在于，所述凹槽的侧壁上设有可拆卸的安装部；
    所述安装部包括安装本体和安装壳，所述安装壳设于所述安装本体上；
    所述安装壳内设有容纳空间，所述驱动电机以及所述摩擦轮位于所述容纳空间内。
  36. 根据权利要求35所述的弹丸发射系统，其特征在于，
    所述弹丸发射装置还包括弹丸连通框体，所述弹丸连通框体用于连接所述加速管及所述弹仓；
    所述安装本体设于开口朝上的所述凹槽的一侧壁上，所述安装壳的一端与所述安装本体连接，所述安装壳的另一端与所述弹丸连通框体连接。
  37. 根据权利要求31所述的弹丸发射系统，其特征在于，
    所述弹丸发射系统还包括主控板，所述主控板位于两个所述摩擦轮远离所述发射管的一侧，且所述主控板与所述驱动组件电耦合连接。
  38. 根据权利要求37所述的弹丸发射系统，其特征在于，
    所述弹丸发射装置还包括外罩，所述外罩用于罩设所述主控板和至少一个所述摩擦轮。
  39. 根据权利要求31所述的弹丸发射系统，其特征在于，
    当所述云台包括第二电机时，两个所述摩擦轮与所述第二电机相邻设置。
  40. 一种机器人，其特征在于，包括底盘、安装于所述底盘并用于驱动所述底盘移动的动力机构以及如权利要求29至39中任一项所述的弹丸发射系统，所述弹丸发射系统设于所述底盘。
  41. 根据权利要求40所述的机器人，其特征在于，
    当所述弹丸发射系统包括弹仓组件时，所述云台中的第一电机与所述弹仓组件中的弹丸通道设于所述底盘的相对两侧。
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