CN113932647A - Wearable shooting mechanical arm - Google Patents
Wearable shooting mechanical arm Download PDFInfo
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- CN113932647A CN113932647A CN202111234369.5A CN202111234369A CN113932647A CN 113932647 A CN113932647 A CN 113932647A CN 202111234369 A CN202111234369 A CN 202111234369A CN 113932647 A CN113932647 A CN 113932647A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A23/00—Gun mountings, e.g. on vehicles; Disposition of guns on vehicles
- F41A23/56—Arrangements for adjusting the gun platform in the vertical or horizontal position
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Abstract
The invention provides a wearable shooting mechanical arm which is used for improving and expanding the fighting capacity of a wearer. Wearable arm for shooting is dressed in human back, sets gradually from connecting human department to the end and includes: a back frame attachment structure, a shoulder structure member, an arm structure member, and an elbow structure member. The wearable shooting mechanical arm is driven by the motor to aim at a target without hindering a wearer to finish other actions, provides a precise hitting capability for the wearer without the precise hitting capability, improves the self-protection capability when the wearer finishes a task, improves the fighting capability for the user with the precise hitting capability, and enables the user to attack a plurality of fighting targets simultaneously.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to a wearable mechanical arm for shooting.
Background
Wearable arm can assist the wearer to carry out work, carries out simple cooperation work for tongs class is terminal or functional type is terminal usually, and the operation scope is expanded when shooting class end can expand the wearer's function. At present, the culture of accurate shooting capability needs a longer period, and for professional people who need to log in a battlefield or special operation, the accurate shooting capability cannot be obtained in a short time, and the battlefield lacks of fighting capability and self-protection capability. The wearable shooting mechanical arm can be matched with a wearer to work, provides the wearer with accurate hitting capacity during the process of going or working, autonomously aims and locks surrounding enemies, and completes hitting tasks when necessary.
US patent application No. US16002420 discloses a shooting robot named the third arm, which describes a new wearable device for stabilizing a gun. The device is connected to the tactical vest at one end and to the rail interface system of the firearm at the other end. The apparatus shifts the weight of the firearm away from the user's arm, thereby reducing arm fatigue and improving accuracy, enables the use of non-conventional weapon systems, and helps achieve consistency of shooting and reduces discomfort of recoil. However, the system still belongs to passive auxiliary equipment, and although the use requirement of the unconventional weapon is reduced, the system still needs the wearer to have basic accurate striking capability and cannot automatically provide firepower shielding when the wearer completes other work.
The gripper tail end mechanical arm disclosed by Chinese patent applications with application numbers of CN202010449127.7 and CN201910998388.1 can assist a wearer in completing various work tasks, but the structural form and the degree of freedom of the mechanical arm are not suitable for shooting tail ends.
Disclosure of Invention
The invention aims to provide a wearable shooting mechanical arm device which provides accurate hitting capability for a wearer.
The technical solution for realizing the purpose of the invention is as follows: a wearable mechanical arm for shooting comprises a back frame connecting structure, a shoulder structure part, an arm structure part and an elbow structure part which are connected in sequence; bind up whole arm and human back through back of the body frame connection structure to provide first degree of freedom, combine the second degree of freedom that shoulder structural component provided, guarantee to carry on the firearms and possess certain adjustment spatial position ability, arm structural component and elbow structural component provide third degree of freedom and fourth degree of freedom respectively, for carrying on the firearms and providing the ability of the most direction of directional aiming space, combine two preceding degrees of freedom, avoid barriers such as human body when realizing in the space all-round target tracking locking.
The wearable shooting mechanical arm applied to the technical scheme of the invention is used for matching with a wearer to realize a target striking and locking task and endowing battlefield technicians lacking accurate striking capability with accurate striking capability. The whole wearable type shooting mechanical arm is provided with four degrees of freedom, and is respectively provided with a back frame connecting structure, shoulder structural parts, arm structural parts and elbow structural parts, the degree of freedom motion range of the back frame connecting structure is 0-180 degrees, all the other degrees of freedom can rotate in all directions, the corresponding degree of freedom motor can directly output the motion range, and the direction of the motion range is the same as that of the motor. The degree of freedom that establishes in arm structural component and the elbow structural component guarantees that the firearms can satisfy strike on a large scale under the condition of not sheltering from, and the degree of freedom that establishes in back of the body frame connection structure and the shoulder structural component is responsible for updating the firearms position under the condition that the firearms shooting is blockked, realizes the all-round of firearms and aims through minimum degree of freedom.
Compared with the prior art, the invention has the remarkable advantages that:
(1) the invention comprises four degrees of freedom, is more suitable for being used as a shooting mechanical arm compared with the degree of freedom distribution method of other mechanical arms, can meet all-round striking under the condition of aiming at combat missions, and simultaneously can be folded and folded on the back of a wearer in the whole structure, thereby reducing the occupied space.
(2) The invention has simple structure, most parts can be made of high-strength and light aluminum alloy, the processing and the assembly are easy, the cost of the whole device is reduced, the weight of the whole structure is lighter, and the burden of a wearer in the process of exercise is reduced.
(3) The four degrees of freedom of the invention are all driven by the active motor, and can cooperate with the wearer to complete the battle task.
Drawings
Fig. 1 is a schematic view of the overall storage state of the wearable shooting robot apparatus of the present invention.
Fig. 2 is an exploded view of the back frame attachment structure of the present invention.
Figure 3 is an exploded view of a shoulder structure component of the present invention.
Fig. 4 is an exploded view of the arm structure component of the present invention.
Figure 5 is an exploded view of the elbow structure component of the present invention.
FIG. 6 is a schematic diagram showing the distribution of four sets of structures in the storage state of the present invention.
Fig. 7 is a structural view of a back frame connecting structure of the present invention.
Fig. 8 is a structural view of an arm structural member of the present invention.
Figure 9 is a block diagram of the elbow structural member of the present invention.
Figure 10 is a view of a shoulder structure component of the present invention.
Fig. 11 is a schematic view of the present invention in an all-round shot.
Fig. 12 is a schematic view of a stored state of the end-mounted firearm in a practical case.
FIG. 13 is a second degree of freedom bearing block configuration of the present invention.
1-back frame connecting structure, 2-shoulder structure part, 3-arm structure part, 4-elbow structure part, 101-first back frame baffle plate, 102-second back frame baffle plate, 103-back frame support plate, 104-first degree of freedom motor, 105-first degree of freedom transmission shaft, 106-first degree of freedom bearing I, 107-first degree of freedom bearing II, 108-first degree of freedom bearing seat, 109-first degree of freedom shaft frame, 201-second degree of freedom motor, 202-second degree of freedom transmission shaft, 203-shoulder sleeve, 204-shoulder gasket, 205-second degree of freedom bearing I, 206-shoulder gasket, 207-second degree of freedom bearing II, 208-second degree of freedom bearing seat, 301-arm structure base, 302-third degree of freedom motor cover, 303-third degree of freedom motor, 304-arm supporting plate, 305-third degree of freedom transmission shaft, 306-third degree of freedom motor base, 307-third degree of freedom bearing I, 308-arm bearing base supporting plate, 309-third degree of freedom bearing I, 310-third degree of freedom bearing II, 311-arm end cover, 312-arm sleeve, 313-third degree of freedom bearing III, 314-third degree of freedom bearing II, 315-first section arm, 316-second section arm, 401-fourth degree of freedom motor, 402-fourth degree of freedom transmission shaft, 403-fourth degree of freedom bearing I, 404-fourth degree of freedom bearing II, 405-elbow structure base, 406-firearm connecting piece and 407-firearm simplified model.
Detailed Description
The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings and the detailed description. The following examples or figures are illustrative of the present invention and are not intended to limit the scope of the present invention.
The invention provides a wearable shooting mechanical arm which is used for endowing a wearer with accurate hitting capacity, a back frame connecting structure 1 is connected with a human body through a binding band, an integral mechanical arm structure is bound on the back of the human body through the back frame connecting structure 1 and provides a first degree of freedom, a shoulder structure part 2 is combined with a second degree of freedom to ensure that a carrying firearm has certain capacity of adjusting the space position, an arm structure part 3 and an elbow structure part 4 respectively provide a third degree of freedom and a fourth degree of freedom to provide the carrying firearm with the capacity of pointing to most directions of a sighting space, and the first two degrees of freedom are combined to realize omnibearing target tracking and locking in the space and avoid obstacles such as the human body.
In specific implementation, the back frame connecting structure 1 includes a first back frame baffle 101, a second back frame baffle 102, a first degree of freedom motor 104, a first degree of freedom transmission shaft 105, a first degree of freedom bearing ii 107, a first degree of freedom bearing i 106, a first degree of freedom bearing seat 108, a first degree of freedom shaft frame 109, and two back frame support plates 103.
With reference to fig. 2 and 7, the extending portion of the first back frame baffle 101 is responsible for abutting against the waist of the wearer to assist in completing the overall structure stability, and is fixedly connected with the second back frame baffle 102 through screws and nuts, the second back frame baffle 102 is octagonal and fixed on the back of the wearer, and the periphery of the second back frame baffle is provided with slotted holes for fixing the mounting strap to the human body. The first freedom degree shaft bracket 109 is cross-shaped, a through hole is arranged in the middle position, a first freedom degree bearing II 107 and a limit first freedom degree transmission shaft 105 are arranged, two bearings are arranged on the shaft for auxiliary support, the other bearing is a first freedom degree bearing I106 and is arranged on a first freedom degree bearing seat 108, four bosses are uniformly distributed on the front surface of the first freedom degree bearing seat 108 in an annular shape, the first freedom degree shaft bracket 109 is arranged on the four bosses and is fixedly connected with the bosses, through holes are arranged on the upper side and the lower side of two back bracket supporting plates 103, reinforcing ribs are arranged in the middle of the two back bracket supporting plates 103 and are fixed on a second back bracket baffle plate 102 at intervals in parallel, the front surface of the back bracket supporting plate 103 is fixedly connected with the back surface of the first freedom degree bearing seat 108 through screws, an installation cavity is formed between the first freedom degree bearing seat 108 and the second back bracket baffle plate 102 and is used for fixing the first freedom degree motor 104, the output position of the first freedom degree motor 104 is fixedly connected with one end of the first freedom degree transmission shaft 105, the other end of the first-degree-of-freedom transmission shaft 105 penetrates through a central through hole of the first-degree-of-freedom bearing seat 108, extends out of a central through hole of the first-degree-of-freedom shaft bracket 109, is connected with the shoulder structure part 2, is fixedly connected through a screw, and transmits power output by the motor to the shoulder structure part 2, and the first-degree-of-freedom transmission shaft 105 rotates in a central hole of the first-degree-of-freedom bearing seat 108 through the first-degree-of-freedom bearing I106 and the first-degree-of-freedom bearing II 107, so that a transmission function of the first degree of freedom is achieved.
In specific implementation, the shoulder structure component 2 includes a second-degree-of-freedom motor 201, a second-degree-of-freedom transmission shaft 202, a shoulder sleeve 203, a shoulder gasket 204, a second-degree-of-freedom bearing i 205, a shoulder washer 206, a second-degree-of-freedom bearing ii 207, and a second-degree-of-freedom bearing seat 208.
Referring to fig. 3 and 10, a fourth-order through hole, a first-order hole, a second-order hole, a third-order hole and a fourth-order hole with decreasing diameters are formed along the central axis of the second-degree-of-freedom bearing seat 208, a window is formed on the hole wall of the third-order hole for matching with the arm structure part 3, the first-order hole is used for providing an installation space for the second-degree-of-freedom motor 201, the second-order hole is matched with the second-degree-of-freedom bearing i 205, a first through hole is formed in the outer wall of the third-order hole and communicated with the third-order hole, the first-degree-of-freedom transmission shaft 105 extends into the third-order hole from the first through hole and is fixedly connected with the second-degree-of-freedom bearing seat 208, the tail end of the third-order hole is matched with the second-degree-of-freedom bearing ii 207, the second-degree-of-freedom motor 201 is fixed in the first-order hole and the second-order hole, one end of the second-degree-of-freedom transmission shaft 202 is fixed at the output position of the second-degree-of-freedom motor 201, and the other end of the second-degree-freedom transmission shaft 202 extends into the third-order hole, the shoulder sleeve 203, the shoulder gasket 204, the second-degree-of-freedom bearing I205, the arm structure part 3, the shoulder gasket 206 and the second-degree-of-freedom bearing II 207 are sequentially arranged on the arm structure part, the motion output by the second-degree-of-freedom motor 201 is transmitted to the arm structure part 3 through the second-degree-of-freedom transmission shaft 202, the adjustment of the second degree of freedom is realized, and the spatial position transformation of the mechanical arm tail-end firearm is realized under the combined action of the first degree of freedom and the second degree of freedom.
In specific implementation, the arm structure component 3 includes an arm structure base 301, a third-degree-of-freedom motor cover 302, a third-degree-of-freedom motor 303, a third-degree-of-freedom transmission shaft 305, a third-degree-of-freedom motor base 306, a third-degree-of-freedom bearing i 307, a third-degree-of-freedom bearing i 309, a third-degree-of-freedom bearing ii 310, an arm end cover 311, an arm sleeve 312, a third-degree-of-freedom bearing iii 313, a third-degree-of-freedom bearing ii 314, a first-stage arm 315, a second-stage arm 316, three arm support plates 304, and two arm bearing support plates 308.
With reference to fig. 4 and 8, the top end of the arm structure base 301 is provided with a rectangular through hole for matching with a rectangular shaft segment on the second-degree-of-freedom transmission shaft 202 to transmit the output power of the second-degree-of-freedom motor 201, the bottom of the arm structure base is fixedly connected with the third-degree-of-freedom motor cover 302 through a screw, the third-degree-of-freedom motor base 306 is arranged below the third-degree-of-freedom motor cover 302 at a parallel interval, the third-degree-of-freedom motor cover 302 and the third-degree-of-freedom motor base 306 are connected to form a third cavity through three evenly-distributed arm support plates 304, the third cavity is used for installing and fixing the third-degree-of-freedom motor 303, the top end of the third-degree-of-freedom transmission shaft 305 is fixedly connected with the output position of the third-degree-of-freedom motor 303, and the lower end of the third-degree-of-freedom transmission shaft 305 is sequentially provided with a third-degree-of-freedom bearing i 307, a third-degree-i-309, a third-three-degree-three-degree-freedom bearing i-309, a third-ii-310, an arm end cover 311, an arm sleeve 312, and a third-iii-313, a third-iii-313, a third-c-, A third degree of freedom bearing II 314; the arm bearing block supporting plate 308 is L-shaped and symmetrically arranged on two sides of the third-degree-of-freedom bearing i 309, and the third-degree-of-freedom bearing i 309, the arm end cover 311, the arm sleeve 312 and the third-degree-of-freedom bearing ii 314 are connected into a whole by matching with bolts, so that the first section arm 315 and the second section arm 316 at the lower end can provide supporting force for the third-degree-of-freedom bearing while freely rotating along the axial direction of the third-degree-of-freedom transmission shaft 305, and the output position of the third-degree-of-freedom motor 303 is protected from being damaged due to the influence of the operation of the mechanical arm; the end of the third degree of freedom transmission shaft 305 extends into the top surface of the first section arm 315 and is fixedly connected through a screw, the end of the first section arm 315 is in sliding fit with the second section arm 316 to adjust the fixed position and is fixedly connected through a bolt, and the end of the second section arm 316 is connected with the elbow structure component 4; the output of the third-degree-of-freedom motor 303 is transmitted to the first arm 315 and the second arm 316 through the third-degree-of-freedom transmission shaft 305, and is transmitted to the elbow structural member 4, thereby realizing adjustment of the third degree of freedom.
In specific implementation, the elbow structure component 4 comprises a fourth degree of freedom motor 401, a fourth degree of freedom transmission shaft 402, a fourth degree of freedom bearing I403, a fourth degree of freedom bearing II 404, an elbow structure base 405, a firearm connecting piece 406 and a firearm simplified model 407; the housing of the fourth degree of freedom motor 401 is fixedly connected with the elbow structure base 405 through screws.
Referring to fig. 5 and 9, a fifth-order through hole, a fifth-order hole, a sixth-order hole, a seventh-order hole, and an eighth-order hole with decreasing diameters are formed along the central axis of the elbow structure base 405, a window is formed on the wall of the seventh-order hole of the ninth-order hole, a rectangular boss is formed on the upper side of the elbow structure base 405, the boss is slotted and fixedly connected with the arm structure part 3 through a screw, one end of a fourth-degree-of-freedom transmission shaft 402 is fixed at the output position of the fourth-degree-of-freedom motor 401, the other end of the fourth-degree-of-freedom transmission shaft 402 extends into the fifth-order through hole of the elbow structure base 405, a fourth-degree-of-freedom bearing i 403 and a fourth-degree-of freedom bearing ii 404 are sequentially mounted on the boss, the fourth-degree-of freedom bearing i is mounted in the sixth-order hole, the fourth-degree-of-freedom bearing ii 404 is mounted in the eighth-order hole, the two bearings 403 ensure that the fourth-degree-of freedom transmission shaft provides a limit to prevent the output position of the fourth-degree-of-freedom motor 401 from being damaged during the operation of the end of the robot arm, the tail end of the fourth degree of freedom transmission shaft 402 is fixedly connected with a firearm connecting piece 406 through a screw, the firearm connecting piece 406 is used for carrying a firearm, and the firearm is replaced by a model in the illustration; the power of the fourth degree of freedom motor 401 is transmitted to the firearm connecting piece 406 through the fourth degree of freedom transmission shaft 402 and further transmitted to the firearm, and the firearm can realize the adjustment of the azimuth angle and the pitch angle in the coordinate system through the third degree of freedom and the fourth degree of freedom, so that the large-range aiming is realized.
As shown in fig. 11, the wearable shooting robot arm is operated to raise the firearm at the end to a position where the firearm can be shot by the first degree of freedom and the second degree of freedom of the back frame connecting structure 1 and the shoulder structure member 2, adjust the orientation of the firearm by the degrees of freedom of the arm structure member 3 and the elbow structure member 4, aim at the target, and update the spatial position of the firearm at the end by adjusting the first degree of freedom and the second degree of freedom until the firearm reaches a position where the firearm is not blocked. Fig. 12 is a schematic view showing a storage state of the wearable shooting robot arm in an actual use.
The invention comprises four degrees of freedom, is more suitable for being used as a shooting mechanical arm compared with the degree of freedom distribution method of other mechanical arms, can meet all-round striking under the condition of orienting to a combat mission, simultaneously can be folded and folded on the back of a wearer by the whole structure, reduces the occupied space, is driven by the active motor in all four degrees of freedom, and can cooperate with the wearer to complete the combat mission. Simple structure, most parts can be made through the aluminum alloy of high strength, light, easily processing, assembly reduce the overall arrangement cost, and overall structure quality is lighter, reduces the burden of wearer in the motion process.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a wearing formula arm for shooting which characterized in that: comprises a back frame connecting structure (1), a shoulder structure part (2), an arm structure part (3) and an elbow structure part (4) which are connected in sequence; bind up whole arm through back of the body frame connection structure (1) and tie up with human back, and provide first degree of freedom, combine the second degree of freedom that shoulder structural component (2) provided, guarantee to carry on the firearms and possess certain adjustment spatial position ability, arm structural component (3) and elbow structural component (4) provide third degree of freedom and fourth degree of freedom respectively, for carrying on the firearms and providing the ability of directional aiming space major direction, combine two preceding degrees of freedom, avoid barriers such as human body when realizing in the space all-round target tracking locking.
2. The wearable shooting robot arm according to claim 1, characterized in that: the back frame connecting structure (1) comprises a first back frame baffle (101), a second back frame baffle (102), a first degree of freedom motor (104), a first degree of freedom transmission shaft (105), a first degree of freedom bearing I (106), a first degree of freedom bearing II (107), a first degree of freedom bearing seat (108), a first degree of freedom shaft frame (109) and two back frame supporting plates (103); the first back frame baffle (101) is fixed at the bottom end of the second back frame baffle (102), the first degree of freedom shaft bracket (109) is cross-shaped, the front surface of the first degree of freedom bearing seat (108) is annularly and uniformly distributed with four bosses, the first degree of freedom shaft bracket (109) is arranged on the four bosses and fixedly connected with the bosses, two back frame support plates (103) are fixed on the second back frame baffle (102) at intervals in parallel, the front surface of the back frame support plate (103) is fixedly connected with the back surface of the first degree of freedom bearing seat (108), an installation cavity is formed between the first degree of freedom bearing seat (108) and the second back frame baffle (102) and is used for fixing the first degree of freedom motor (104), the output position of the first degree of freedom motor (104) is fixedly connected with one end of the first degree of freedom transmission shaft (105), the other end of the first degree of freedom transmission shaft (105) passes through the central through hole of the first degree of freedom bearing seat (108) and extends out of the central through hole of the first degree of freedom shaft bracket (109), and the first freedom degree transmission shaft (105) is connected with the shoulder structure part (2) and realizes the rotation at the central hole of the first freedom degree bearing seat (108) through the first freedom degree bearing I (106) and the first freedom degree bearing II (107).
3. The wearable shooting robot arm according to claim 2, characterized in that: the shoulder structure component (2) comprises a second-degree-of-freedom motor (201), a second-degree-of-freedom transmission shaft (202), a shoulder sleeve (203), a shoulder gasket (204), a second-degree-of-freedom bearing I (205), a shoulder washer (206), a second-degree-of-freedom bearing II (207) and a second-degree-of-freedom bearing seat (208); a fourth-order through hole is formed along the central axis of the second-degree-of-freedom bearing seat (208), a first-order hole, a second-order hole, a third-order hole and a fourth-order hole with decreasing diameters are sequentially formed, a window is formed in the hole wall of the third-order hole and used for being matched with an arm structure part (3), a first through hole is further formed in the outer wall of the third-order hole and communicated with the third-order hole, a first-degree-of-freedom transmission shaft (105) extends into the third-order hole from the first through hole and then is fixedly connected with the second-degree-of-freedom bearing seat (208), a second-degree-of-freedom motor (201) is fixed in the first-order hole and the second-order hole, one end of the second-degree-of freedom transmission shaft (202) is fixed at the output position of the second-degree-of freedom motor (201), the other end of the second-degree-of freedom transmission shaft (202) extends into the third-order hole, and a shoulder sleeve (203), a shoulder gasket (204), a second-degree-of freedom bearing I (205) and a second-degree-of freedom bearing are sequentially mounted on the second-of-degree-freedom transmission shaft (202), An arm structure component (3), a shoulder washer (206), and a second degree of freedom bearing II (207).
4. The wearable shooting robot arm according to claim 3, characterized in that: the arm structure component (3) comprises an arm structure base (301), a third-degree-of-freedom motor cover (302), a third-degree-of-freedom motor (303), a third-degree-of-freedom transmission shaft (305), a third-degree-of-freedom motor base (306), a third-degree-of-freedom bearing I (307), a third-degree-of-freedom bearing I (309), a third-degree-of-freedom bearing II (310), an arm end cover (311), an arm sleeve (312), a third-degree-of-freedom bearing III (313), a third-degree-of-freedom bearing II (314), a first-section arm (315), a second-section arm (316), three arm support plates (304) and two arm bearing base support plates (308); the arm structure base (301) is connected to the bottom of the arm structure base (301) of the second-degree-of-freedom bearing seat (208) through a second-degree-of-freedom transmission shaft (202) and fixedly connected with a third-degree-of-freedom motor cover (302), the third-degree-of-freedom motor bases (306) are arranged below the third-degree-of-freedom motor cover (302) in parallel at intervals, a third cavity is formed between the third-degree-of-freedom motor cover (302) and the third-degree-of-freedom motor bases (306) through three evenly-distributed arm supporting plates (304), the third cavity is used for installing and fixing third-degree-of-freedom motors (303), the top ends of the third-degree-of-freedom transmission shafts (305) are fixedly connected with the output positions of the third-degree-of-freedom motors (303), a third-degree-of-freedom bearing I (307), a third-degree-of-freedom bearing I (309), a third-degree-of-freedom bearing II (310), an arm end cover (311) is sequentially installed at the lower end of the third-degree-of-freedom transmission shaft (305) from top to-bottom, The arm sleeve (312), the third degree of freedom bearing III (313) and the third degree of freedom bearing II (314); the arm bearing seat supporting plate (308) is L-shaped and symmetrically arranged on two sides of the third degree-of-freedom bearing I (309), and the third degree-of-freedom bearing I (309), the arm end cover (311), the arm sleeve (312) and the third degree-of-freedom bearing II (314) are connected into a whole by matching bolts; the tail end of the third degree-of-freedom transmission shaft (305) is fixedly connected with the top surface of the first section of arm (315), the tail end of the first section of arm (315) is in sliding fit with the second section of arm (316) to adjust the fixed position, the fixed connection is realized through a bolt, and the tail end of the second section of arm (316) is connected with the elbow structure component (4).
5. The wearable shooting robot arm according to claim 4, characterized in that: the elbow structure component (4) comprises a fourth degree of freedom motor (401), a fourth degree of freedom transmission shaft (402), a fourth degree of freedom bearing I (403), a fourth degree of freedom bearing II (404), an elbow structure base (405) and a firearm connecting piece (406); a fifth-order through hole is formed along the central axis of the elbow structure base (405), a fifth-order hole, a sixth-order hole, a seventh-order hole and an eighth-order hole with gradually decreased diameters are sequentially formed, a window is formed in the hole wall of the seventh-order hole of the ninth-order hole, a rectangular boss is arranged on the upper side of the elbow structure base (405), the upper side of the boss is slotted and used for being fixedly connected with the arm structure part (3), one end of a fourth-degree-of-freedom transmission shaft (402) is fixed at the output position of a fourth-degree-of-freedom motor (401), the other end of the fourth-degree-of-freedom transmission shaft (402) extends into the fifth-order through hole of the elbow structure base (405), a fourth-degree-of-freedom bearing I (403) and a fourth-degree-of-freedom bearing II (404) are sequentially installed on the fifth-order through hole, the fourth-degree-of-freedom bearing I (403) is installed in the sixth-order hole, and the fourth-degree-of-freedom bearing II (404) is installed in the eighth-order hole; the tail end of the fourth degree of freedom transmission shaft (402) is fixedly connected with a firearm connecting piece (406), and the firearm connecting piece (406) is used for carrying a firearm.
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| CN202111234369.5A CN113932647B (en) | 2021-10-22 | 2021-10-22 | Wearing formula arm for shooting |
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| CN202111234369.5A CN113932647B (en) | 2021-10-22 | 2021-10-22 | Wearing formula arm for shooting |
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| CN113932647B CN113932647B (en) | 2023-06-02 |
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| US20140082987A1 (en) * | 2012-09-27 | 2014-03-27 | Edward E. Boll | Stabilizing shooting rest apparatus and method |
| CN107650118A (en) * | 2017-09-21 | 2018-02-02 | 广州市华科尔科技股份有限公司 | A kind of robot arm |
| CN112548988A (en) * | 2019-09-26 | 2021-03-26 | 中船人因工程研究院(青岛)有限公司 | Auxiliary mechanical arm for battle |
| CN110788838A (en) * | 2019-11-29 | 2020-02-14 | 慈溪市东鑫镁业有限公司 | Power-assisted lifting mechanical arm device |
| CN112665462A (en) * | 2020-12-11 | 2021-04-16 | 南京理工大学 | Wearable weapon arm device of formula of double shooting formula mode |
| CN112643651A (en) * | 2020-12-23 | 2021-04-13 | 中国科学院沈阳自动化研究所 | Telescopic bionic outer limb mechanical arm |
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| CN113932647B (en) | 2023-06-02 |
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