RM202 1 Post-match Sentinel R&D Summary (I)

Write in front:

As a (brief) summary of the design and production process of Sentinel from June, 2020 to May, 2026, Sentinel participated in the Central Division Competition 5438+0. This report aims to review the research and development process of Sentinel, and point out the pits it has gone through, hoping to help Sentinel's design iteration (whether the rules of the competition are changed or not) do better in the future and perform better in the competition.

A

The sentry exposed many problems in this central division competition. From the first game, the sentry had the problem of mistaken recognition and put the opposing players in the operation room (? ) and base identification in order to attack the target, there have been battles of typing Chinese characters and hitting the other party's outpost.

Other targets were filtered in subsequent sessions. However, in the game against Xiamen University, Shang Yuntai still looked up and attacked without identifying the target (the reason is unknown), and the projectile hit the tarmac of the other drone and the player waiting area outside the venue. The lower Yuntai also turned around 360 (the reason is unknown).

In the game against Jiaotong University at 2 pm on the 29th, in order to prevent the platform from being mistyped, the elevation angle was limited, but it was still played in the direction of the outpost, and all the bullets landed at the hanging point of our hero, killing 50 points of hero's blood.

In the battle against Taiyuan University of Technology, because Yuntai could not attack normally, we decided to take a gamble and remove the Yuntai above before the game started to reduce the weight and make the sentry run faster. However, due to the tight time, there is no way to debug on the track. Before the start of the game, the sentry can run normally and automatically, but after the start of the game, the chassis can't move, and the pan/tilt below can't attack normally, becoming a fixed target.

Now it seems that stability is the first in the competition, and it is a complete failure to change the structure halfway.

In terms of mechanical structure, when I wrote the checklist before the game, I completely ignored the chassis wheelset, and the bolts that played the role of jacking thread were not screwed on. In the game against Changshu Institute of Technology, the bolts were loosened due to the impact or vibration of control, and the chassis could not move at all.

In this regional competition, we can see that, for example, the sentry of Nanjing Institute of Technology can play a great role in the case of good identification and can make considerable output to the enemies in the highlands. It is also a good choice to hang a shooting outpost on the platform when adjusting the trajectory. Judging from the actual range and accuracy of our sentry, the potential is still relatively large.

See the structural scheme of sentry Yuntai in other schools in the preparation area and competition area, which is mainly divided into:

Double translation/tilt up and down

Looking for ammunition on Yuntai:

The ammunition is mounted on the platform and mounted on the platform (after passing the yaw axis, sideways, passing the pitch axis), and the magazine is on the chassis.

The magazine is behind the yaw axis, which is the same as our winter vacation version of Yuntai.

Put it on the ammunition platform.

Upper pan/tilt position:

Concentrate

Offset, put the upper tripod head on the edge of the center of the offset field, so that the magazine can be placed behind, and the upper tripod head can also hit the ground target closer.

Single platform double cylinder

For example, Zhejiang University and Donghua University put the magazine on the lower platform behind the launching mechanism and rotate with the yaw axis. There are two plucking wheels under the magazine, and the magazine chain takes the pitch axis, because if the magazine is placed on the chassis, the two magazine chain tubes will not pass through the yaw axis. 6020 four-bar linkage is used to lift the lower tripod head, the barrels are side by side, and the friction wheels are placed vertically, so it takes a lot of torque to lift the tripod head. Donghua then tied the head with a rubber band as an auxiliary balance to reduce the torque demand of the motor. Zhejiang University seems to use a constant force spring to balance it.

Double-headed platform

The scheme with low cost performance is only adopted by Shanghai University.

Single platform and single barrel

For example, hand in

For the chassis structure scheme, it is mainly divided into:

monomotor

The single motor is directly connected to the driving wheel, and there are two auxiliary wheels opposite. The reduction ratio of the gearbox is changed to 1: 5 (? ), such as Donghua University, is very similar to the open source scheme of Northeastern University, and so are schools such as Shanghai Jiaotong University (although the specific structure of Shanghai Jiaotong University is not clear). It seems that this scheme is only adopted by sentries who use the Supreme Yuntai, but it can also be used in Shanghai Yuntai.

Single motor synchronous belt transmission wheel set, our scheme, it seems that other schools have used similar schemes.

Double engine

Double motors are directly connected to the driving wheels and symmetrically arranged.

In fact, under the same frame layout, different positions and ammunition supply schemes can hardly be said to have obvious advantages and disadvantages. Unlike the technology of small gyro and heroic ammunition replenishment, which will bring significant advantages, these different schemes will not bring much performance difference.

The sentry's task is to avoid the attack, and the other is to counterattack or take the initiative to attack (using Yuntai). From the point of view of avoiding attacks, our sentry's random change of direction is not bad. From the point of view of speed, double pan/tilt is bound to bring great load, so the transmission scheme of chassis motor can be studied again. From the attack point of view, it is very important to identify bullets without jamming.

The poor performance of sentry identification and attack this time is largely due to insufficient debugging before the game, because this version of the car was completely installed one or two weeks before the game, leaving insufficient time for joint debugging. In this sense, the progress control of the mechanical part failed. At the same time, the time from hand-in-hand returning from the friendly match to disassembling the car and installing the Yuntai is not enough, and it has never been done with the infantry, which is also unreasonable.

Therefore, if the rules about sentry remain unchanged next season, it is suggested not to overturn all structural designs and start over, but to leave more time for testing.