CN116399172A - Base-adjustable forearm-expanding electric shock-emitting wearable weapon arm - Google Patents
Base-adjustable forearm-expanding electric shock-emitting wearable weapon arm Download PDFInfo
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- CN116399172A CN116399172A CN202310502621.9A CN202310502621A CN116399172A CN 116399172 A CN116399172 A CN 116399172A CN 202310502621 A CN202310502621 A CN 202310502621A CN 116399172 A CN116399172 A CN 116399172A
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- 230000007246 mechanism Effects 0.000 claims abstract description 116
- 230000003139 buffering effect Effects 0.000 claims abstract description 46
- 238000010304 firing Methods 0.000 claims abstract description 29
- 230000006835 compression Effects 0.000 claims abstract description 9
- 238000007906 compression Methods 0.000 claims abstract description 9
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41C—SMALLARMS, e.g. PISTOLS, RIFLES; ACCESSORIES THEREFOR
- F41C33/00—Means for wearing or carrying smallarms
- F41C33/001—Shooting harnesses; Stabilising devices, e.g. straps on the body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
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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
- F41A25/00—Gun mountings permitting recoil or return to battery, e.g. gun cradles; Barrel buffers or brakes
- F41A25/10—Spring-operated systems
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- 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
- F41H1/00—Personal protection gear
- F41H1/02—Armoured or projectile- or missile-resistant garments; Composite protection fabrics
Abstract
The invention belongs to the field of outer limb robots, and particularly relates to a base-adjustable forearm-stretching electric shock-generating wearable weapon arm. The gun rack comprises a back rack, a four-degree-of-freedom mechanical arm mechanism connected with the back rack through a sliding rail, and a gun rack mechanism connected with the tail end of the mechanical arm mechanism; the four-degree-of-freedom mechanical arm mechanism comprises a mechanical arm base, a first degree-of-freedom mechanism, a second degree-of-freedom mechanism, a third degree-of-freedom mechanism and a fourth degree-of-freedom mechanism; the gun rack mechanism comprises a buffering clamping mechanism and an electric shock sending mechanism, wherein the buffering clamping mechanism is used for clamping the gun and buffering during firing, and the electric shock sending mechanism is used for electric shock sending of the gun. The invention can realize firepower compression in multiple environments, has better man-machine movement coordination and can effectively improve individual combat force.
Description
Technical Field
The invention belongs to the field of outer limb robots, and particularly relates to a base-adjustable forearm-stretching electric shock-generating wearable weapon arm.
Background
The future battlefield combat environment is complex, new requirements are put forward on the individual intelligent equipment, the individual equipment is required to be endowed with higher attack capability for the individual in the battlefield, the field of the individual task is expanded, the individual can replace a team to complete the team task, and the combat efficiency is improved. The wearable weapon arm aims to fully exert the functions of a person and a machine, and improves the individual combat capability through efficient man-machine cooperation. At present, the single soldier holds up gun operation mode mainly is handheld firearm or gun rack auxiliary shooting, and shooting precision and stability scheduling problems are directly influenced by single soldier operation ability, and research on single soldier wearing type weapons is in a starting stage at present, research results are less, and current wearing type weapons arm equipment can provide stable assistance of holding up guns to a certain extent for soldiers, assist soldiers to finish striking, but most structures are too large in weight and heavy, can influence mobility of soldiers to a certain extent, and cannot meet future battle field operation requirements.
In the invention patent with the patent number of CN112665462B, a wearable weapon arm device with a double shooting mode is disclosed, the invention can realize two shooting modes of auxiliary handheld shooting and controller control shooting, but the mechanical arm rod piece is overlong, and the recoil force has a larger influence on a human body when the firearm shoots.
In the invention patent with the patent number of CN115046423A, a light weapon arm device is disclosed, the invention can realize automatic shooting of firearms, but only horizontal rotation and pitching rotation can be realized, the invention is suitable for automatic shooting under a fixed base, the man-machine work efficiency of wearing by a single soldier is low, and the cooperative movement of man and machine is difficult to ensure.
Disclosure of Invention
The invention aims to provide the forearm electric shock transmitting wearable weapon arm with the adjustable base, and the wearable weapon arm realizes firepower compression under multiple environments through semi-autonomous firing matched with a wearer, so that the weapon arm has better man-machine movement cooperativity, solves the problems of low autonomous degree and poor man-machine work efficiency of the existing weapon arm, and can effectively promote individual combat force.
The technical solution for realizing the purpose of the invention is as follows: a base-adjustable forearm-expanding electric shock-generating wearable weapon arm comprises a back frame, a four-degree-of-freedom mechanical arm mechanism connected with the back frame through a sliding rail, and a gun frame mechanism connected with the tail end of the mechanical arm mechanism;
the four-degree-of-freedom mechanical arm mechanism comprises a mechanical arm base, a first degree-of-freedom mechanism, a second degree-of-freedom mechanism, a third degree-of-freedom mechanism and a fourth degree-of-freedom mechanism;
the gun rack mechanism comprises a buffering clamping mechanism and an electric shock sending mechanism, wherein the buffering clamping mechanism is used for clamping the gun and buffering during firing, and the electric shock sending mechanism is used for electric shock sending of the gun.
Further, two rows of sliding rails are arranged on the back frame, holes which are continuously and uniformly distributed are formed in the sliding rails, the mechanical arm base comprises a base main body and base locking mechanisms which are arranged on two sides of the base main body and used for realizing movement and locking of the mechanical arm base on the back frame sliding rails, and the first degree of freedom mechanism is fixed on the base main body.
Further, the base locking mechanism comprises a blocking key, a sliding block seat, a first pressure spring and a key;
the baffle key is provided with holes which are uniformly distributed on the sliding rail and matched with the protrusions, a connecting block which penetrates through the sliding block seat and is connected with the key, and a first pressure spring is arranged between the key and the sliding block seat; the connecting block slides in the sliding block seat by pressing the key, and the bulge is separated from the hole on the sliding rail, so that the sliding of the base on the sliding rail is realized, and when the base slides to a required position, the key is loosened, the bulge on the blocking key enters the hole of the sliding rail, and the fixing of the position of the base on the sliding rail is realized.
Further, the first degree of freedom mechanism comprises a first degree of freedom support, a first deep groove ball bearing, a first connecting rotating shaft and a first motor;
the upper end of the first-degree-of-freedom support is designed into a multi-tooth encircling type, the first deep groove ball bearing is positioned in a ring formed by the multi-tooth encircling type, the support teeth are connected with the outer ring of the first deep groove ball bearing, the outer ring of the upper end of the first connecting rotating shaft is connected with the inner ring of the first deep groove ball bearing, the top end of the first connecting rotating shaft is fixedly connected with the second-degree-of-freedom support through a screw, the lower end of the first connecting rotating shaft is fixedly connected with the first motor through a screw, the first motor is fixedly connected with the first-degree-of-freedom support through a bolt, and the lower end of the first-degree-of-freedom support is fixedly connected with the base body through a bolt;
the rotation direction of the first connecting rotating shaft is the normal direction of the mechanical arm base, and the rotation angle of the first degree of freedom is 0-360 degrees.
Further, the second degree of freedom mechanism comprises a second degree of freedom support, a second deep groove ball bearing, a second connecting rotating shaft and a second motor;
the upper end of the second freedom degree support is designed into a multi-tooth encircling type, the second deep groove ball bearing is positioned in a ring formed by the multi-tooth encircling type, the support teeth are connected with the outer ring of the second deep groove ball bearing, the outer ring of the upper end of the second connecting rotating shaft is connected with the inner ring of the second deep groove ball bearing, the top end of the second connecting rotating shaft is fixedly connected with the third freedom degree support through a screw, the lower end of the second connecting rotating shaft is fixedly connected with the second motor through a screw, the second motor is fixedly connected with the second freedom degree support through a bolt, and the lower end of the second freedom degree support is connected with the first connecting rotating shaft through a screw;
the rotation direction of the second connecting rotating shaft is perpendicular to the rotation direction of the first connecting rotating shaft, and the rotation angle of the second degree of freedom is 0-180 degrees.
Further, the third degree-of-freedom mechanism sequentially comprises a third degree-of-freedom support, a third deep groove ball bearing, a third connecting rotating shaft and a third motor;
the upper end of the third freedom degree support is designed into a multi-tooth encircling type, the third deep groove ball bearing is positioned in a ring formed by the multi-tooth encircling type, the support teeth are connected with the outer ring of the third deep groove ball bearing, the outer ring of the upper end of the third connecting rotating shaft is connected with the inner ring of the third deep groove ball bearing, the top end of the third connecting rotating shaft is fixedly connected with the fourth freedom degree support through a screw, the lower end of the third connecting rotating shaft is fixedly connected with the third motor through a screw, the third motor is fixedly connected with the third freedom degree support through a bolt, and the lower end of the third freedom degree support is fixedly connected with the second connecting rotating shaft through a screw;
the rotation direction of the third connecting rotating shaft is perpendicular to the rotation direction of the second connecting rotating shaft, and the rotation angle of the third degree of freedom is 0-360 degrees.
Further, the fourth degree of freedom mechanism comprises a fourth degree of freedom support, a fourth deep groove ball bearing, a fourth connecting rotating shaft and a fourth motor;
the upper end of the fourth freedom degree support is designed into a multi-tooth encircling type, the fourth deep groove ball bearing is positioned in a ring formed by the multi-tooth encircling type, the support teeth are connected with the outer ring of the fourth deep groove ball bearing, the outer ring of the upper end of the fourth connecting rotating shaft is connected with the inner ring of the fourth deep groove ball bearing, the top end of the fourth connecting rotating shaft is fixedly connected with the buffering gun rack support through a screw, the lower end of the fourth connecting rotating shaft is fixedly connected with the fourth motor through a screw, the fourth motor is fixedly connected with the fourth freedom degree support through a bolt, and the lower end of the fourth freedom degree support is fixedly connected with the third connecting rotating shaft through a screw;
the rotation direction of the fourth connecting rotating shaft is perpendicular to the rotation direction of the third connecting rotating shaft, and the rotation angle of the fourth degree of freedom is 0-180 degrees.
Further, the buffering clamping mechanism comprises a buffering gun rack sliding part, a gas spring, a buffering gun rack support, a guide rail arranged on the buffering gun rack support and used for sliding the buffering gun rack sliding part, and a gun clamping mechanism;
the buffering gun rack support is connected with the buffering gun rack sliding part through a gas spring by using bolts to form a moving pair, a buffering mechanism is formed preliminarily, the buffering gun rack sliding part is parallel to the axis direction of the clamped gun barrel, and the compression axis direction of the gas spring is parallel to the axis of the gun barrel;
the firearm is connected into a relative whole through the firearm clamping mechanism and the buffering gun rack sliding part, and when the firearm is fired, the buffering gun rack sliding part clamped with the firearm compresses a gas spring and slides in a guide rail on a buffering gun rack support, so that the recoil generated by firing the firearm is buffered.
Further, the firearm clamping mechanisms are two groups symmetrically arranged on the buffering gun rack sliding parts, each group of firearm clamping mechanism comprises an upper stop block, a lower stop block, an upper hinge connecting block, a lower hinge connecting block, an upper torsional spring hinge, a lower torsional spring hinge, an upper vertical clamping block, a lower vertical clamping block, a transverse clamping block, a plurality of second pressure springs, a U-shaped clamping support and a stop block switch;
the middle part of the clamping support is fixedly connected with the end part of the buffering gun rack sliding part through a screw, a second pressure spring is clamped between the upper transverse clamping block and the lower transverse clamping block respectively and the clamping support to form a moving pair through the screw and the hinge connecting block, a connecting rod of the vertical clamping block penetrates through the second pressure spring and the clamping support and then is fixedly connected with the stop block switch through the screw, and the hinge connecting block, the torsion spring hinge and the stop block are fixedly connected through the screw, so that the inner side of the rotation angle of the hinge connecting block and the stop block relative to the torsion spring hinge is 180 degrees at maximum.
Further, the electric shock sending mechanism comprises a firing bar, a connecting piece and an electric push rod;
the firing bar is connected with the buffering gun rack sliding part through a screw to form a revolute pair, two ends of the electric push rod are respectively connected with the firing bar and the electric push rod through connecting parts, the end part of the firing bar is provided with a cylindrical part which is directly attached to a gun trigger, and the electric control firing of the gun is realized by pulling the firing bar through the electric control electric push rod.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The back frame adopts the limiting sliding rail to realize the free up-and-down movement of the mechanical arm base on the back frame, so that the position of the mechanical arm base can be adjusted according to the unfolding and recycling states of the wearable weapon arm, and the height and the shape of a wearer can be correspondingly adjusted.
(2) The mechanical arm mechanism adopts a four-degree-of-freedom structure distribution scheme, can meet the requirement of space omnibearing aiming, shortens the length of an arm rod as much as possible under the condition of ensuring the requirement of aiming, has a more compact structure, reduces the weight of a wearable weapon arm, ensures that the firearm shoots above the shoulders of a wearer, and reduces the influence of recoil force on the wearer during shooting of the firearm.
(3) The four degrees of freedom of the mechanical arm mechanism of the invention adopt the connection mode of directly connecting the rotating shafts and driving the rotating shafts by the motors, so that the generated mechanical arm joint moment is mainly born by the structure, the influence of the moment on the motors is reduced,
(4) The gun rack mechanism comprises a self-adaptive gun clamping tool, can clamp most standard guns, and is matched with an electric firing device and a buffer device to realize continuous and stable shooting.
Drawings
Fig. 1 is a schematic view of the structure of a wearable weapon arm of the present invention.
Fig. 2 is a schematic view of a robot base according to the present invention.
FIG. 3 is a schematic view of a first degree of freedom mechanism of the present invention.
FIG. 4 is a schematic view of a second degree of freedom mechanism of the present invention.
FIG. 5 is a schematic view of a third degree of freedom mechanism of the present invention.
FIG. 6 is a schematic diagram of a fourth degree of freedom mechanism of the present invention.
Fig. 7 is a schematic view of a buffer clamping mechanism of the present invention.
Fig. 8 is a schematic view of a shock-emitting device of the present invention.
Reference numerals illustrate:
1-first degree of freedom mechanism, 2-second degree of freedom mechanism, 3-third degree of freedom mechanism, 4-fourth degree of freedom mechanism, 5-buffer clamping mechanism, 6-electric shock sending mechanism, 7-mechanical arm base, 8-back frame, 7-1-stop key, 7-2-slide block seat, 7-3-first compression spring, 7-4-button, 1-1-first degree of freedom support, 1-2-first deep groove ball bearing, 1-3-first connection spindle, 1-4-first motor, 2-1-second degree of freedom support, 2-2-second deep groove ball bearing, 2-3-second connection spindle, 2-4-second motor, 3-1-third degree of freedom support, 3-2-third deep groove ball bearing, 3-3-third connection spindle, 3-4-third motor, 4-1-fourth degree of freedom support, 4-2-fourth groove ball bearing, 4-3-fourth connection spindle, 4-4-fourth motor, 5-fourth motor, 1-5-buffer frame, 2-3-third deep groove ball bearing, 3-third connection spindle, 3-fourth motor, 5-fourth spring, 5-5-third spring, 3-third bolt, 5-fourth spring, 5-third bolt, 5-buffer support, hinge, 5-third bolt support, 6-1-firing bar, 6-2-connector, 6-3-electric push rod.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, a base-adjustable forearm-expanding electric shock wearable weapon arm comprises a back frame 8, a mechanical arm mechanism connected through a sliding rail, and a gun frame mechanism connected with the tail end of the mechanical arm, wherein the back frame is of a vertically placed structure and can be fixed on the back of a human body or directly fixed on the external skeleton of the human body through braces. The mechanical arm mechanism comprises a mechanical arm base 7, a first freedom degree mechanism 1, a second freedom degree mechanism 2, a third freedom degree mechanism 3 and a fourth freedom degree mechanism 4; the gun rack mechanism comprises a buffering clamping mechanism 5 and an electric shock sending mechanism 6.
The mechanical arm base 7, the first freedom degree mechanism 1, the second freedom degree mechanism 2, the third freedom degree mechanism 3 and the fourth freedom degree mechanism 4 are sequentially connected, the mechanical arm base 7 is connected with the back frame 8 through sliding rails, the back frame adopts a limiting sliding rail to realize free up-and-down movement of the mechanical arm base on the back frame, the position of the mechanical arm base can be adjusted according to the unfolding and recycling states of the wearable weapon arm, and the height and the shape of a wearer can be correspondingly adjusted; the fourth freedom degree mechanism 4 is used as the tail end of the mechanical arm and is connected with the buffer clamping mechanism 5, the four freedom degree mechanisms form a four-freedom degree mechanical arm structure, the third and the fourth freedom degrees are responsible for ensuring that the tail end can point to all directions in space, the first and the second freedom degrees are responsible for adjusting the space position of the target pointing to the tail end, and the feasible working space is solved by utilizing the Monte Carlo algorithm, so that the four-freedom degree structure meets the requirement of all-dimensional aiming in space;
the buffering clamping mechanism 5 is matched with the electric shock firing mechanism 6 to form an adaptive firearm clamping, buffering and firing mechanism, and the adaptive firearm clamping tool can clamp most standard firearms and is matched with the electric firing device and the buffering device to realize continuous and stable shooting.
Referring to fig. 1 and 2, the arm base 7 includes a stopper 7-1, a slider seat 7-2 (having a hole for the connection protrusion to pass through therein), a first compression spring 7-3, and a key 7-4.
The retaining key 7-1 and the sliding block seat 7-2 form a moving pair through corresponding hole positions, a first pressure spring 7-3 is clamped between the sliding block seat 7-2 and the key 7-4 to form the moving pair, the retaining key 7-1 and the key 7-4 are fixedly connected through screws, the back frame 8 forms the moving pair through corresponding hole positions and the sliding block seat 7-2, two pins of the retaining key 7-1 are pulled out of grooves correspondingly arranged on the back frame 8 by pressing the key 7-4 on two sides of the sliding block seat 7-2, the sliding block seat 7-2 can freely move on a sliding rail on the back frame 8, after the sliding block seat 7-2 is adjusted to the corresponding position, the key 7-4 is automatically rebounded to the original position by the first pressure spring 7-3 clamped between the sliding block seat 7-2 and the key 7-4, and the two pins of the retaining key 7-1 are inserted into the corresponding grooves on the back frame 8, so that the mechanical arm base can freely move up and down on the back frame.
Referring to fig. 1, 2, 3 and 4, the first degree-of-freedom mechanism 1 includes a first degree-of-freedom support 1-1, a first deep groove ball bearing 1-2, a first connecting shaft 1-3 and a first motor 1-4.
The upper end of the first freedom degree support 1-1 is designed into a multi-tooth encircling type, the first deep groove ball bearing 1-2 is positioned in a ring formed by multi-tooth encircling, support teeth are connected with the outer ring of the first deep groove ball bearing 1-2, the outer ring of the upper end of the first connecting rotating shaft 1-3 is connected with the inner ring of the first deep groove ball bearing 1-2, the top end of the first connecting rotating shaft 1-3 is fixedly connected with the second freedom degree support 2-1 through a screw, the lower end of the first connecting rotating shaft is fixedly connected with the first motor 1-4 through a screw, the first motor 1-4 is fixedly connected with the first freedom degree support 1-1 through a bolt, and the lower end of the first freedom degree support 1-1 is fixedly connected with the sliding block seat 7-2 through a bolt. By the connection mode, the generated joint moment of the mechanical arm is mainly borne by the structure, the influence of the moment on the motor is reduced, the structure is more compact, the weight of the weapon arm is reduced, the length of the mechanical arm rod is shortened, and the moment is reduced (the second freedom degree mechanism 2, the third freedom degree mechanism 3 and the fourth freedom degree mechanism 4 are the same as above); the first degree of freedom mechanism 1 is used as a first degree of freedom of a mechanical arm, needs to bear larger torque, selects a motor with larger torque, preferably selects an LSG-110 motor, has rated torque of 87N.m, and has a rotation angle of 0-360 degrees.
Referring to fig. 1, 3, 4 and 5, the second degree-of-freedom mechanism 2 includes a second degree-of-freedom support 2-1, a second deep groove ball bearing 2-2, a second connecting shaft 2-3 and a second motor 2-4.
The upper end of the second freedom degree support 2-1 is designed to be a multi-tooth encircling type, the second deep groove ball bearing 2-2 is positioned in a ring formed by multi-tooth encircling, support teeth are connected with the outer ring of the second deep groove ball bearing 2-2, the outer ring of the upper end of the second connecting rotating shaft 2-3 is connected with the inner ring of the second deep groove ball bearing 2-2, the top end of the second connecting rotating shaft 2-3 is fixedly connected with the third freedom degree support 3-1 through a screw, the lower end of the second connecting rotating shaft 2-3 is fixedly connected with the second motor 2-4 through a screw, the lower end of the second freedom degree support 2-1 is fixedly connected with the first connecting rotating shaft 1-3 through a screw, the second freedom degree mechanism 2 is used as a front freedom degree of a mechanical arm, a motor with larger torque is also needed to bear, an LSG-110 motor is also selected, the rated torque is 87. M, and the rotation angle of the second freedom degree is 0-180 degrees.
Referring to fig. 1, 4, 5 and 6, the third degree-of-freedom mechanism 3 sequentially includes a third degree-of-freedom support 3-1, a third deep groove ball bearing 3-2, a third connecting shaft 3-3 and a third motor 3-4.
The upper end of the third freedom degree support 3-1 is designed into a multi-tooth encircling type, the third deep groove ball bearing 3-2 is positioned in a ring formed by multi-tooth encircling, support teeth are connected with the outer ring of the third deep groove ball bearing 3-2, the outer ring of the upper end of the third connecting rotating shaft 3-3 is connected with the inner ring of the third deep groove ball bearing 3-2, the top end of the third connecting rotating shaft 3-3 is fixedly connected with the fourth freedom degree support 4-1 through a screw, the lower end of the third connecting rotating shaft 3-3 is fixedly connected with the third freedom degree support 3-1 through a screw, the lower end of the third freedom degree support 3-1 is fixedly connected with the second connecting rotating shaft 2-3 through a screw, the third freedom degree mechanism 3 is used as a rear freedom degree of a mechanical arm, a motor with smaller torque is needed to bear, an LSG-80 motor is selected, the rated torque is 31N.m, and the rotation angle of the third freedom degree is 0-360 degrees.
Referring to fig. 1, 5, 6 and 7, the fourth degree-of-freedom mechanism 4 includes a fourth degree-of-freedom support 4-1, a fourth deep groove ball bearing 4-2, a fourth connecting shaft 4-3 and a fourth motor 4-4.
The upper end of the fourth freedom degree support 4-1 is designed to be a multi-tooth encircling type, the fourth deep groove ball bearing 4-2 is positioned in a ring formed by multi-tooth encircling, support teeth are connected with the outer ring of the fourth deep groove ball bearing 4-2, the outer ring of the upper end of the fourth connecting rotating shaft 4-3 is connected with the inner ring of the fourth deep groove ball bearing 4-2, the top end of the fourth connecting rotating shaft 4-3 is fixedly connected with the buffering gun rack support 5-3 through a screw, the lower end of the fourth connecting rotating shaft 4-3 is fixedly connected with the fourth motor 4-4 through a screw, the fourth motor 4-4 is fixedly connected with the fourth freedom degree support 4-1 through a bolt, the lower end of the fourth freedom degree support 4-1 is fixedly connected with the third connecting rotating shaft 3 through a screw, the fourth freedom degree mechanism 4 is used as the tail end of a mechanical arm and needs to bear smaller moment, a motor with smaller torque is selected, an LSG-80 motor is selected, the rated torque is 31N.m, and the rotation angle of the fourth freedom degree is 0-180 degrees.
With reference to fig. 1, 6, 7 and 8, the buffering clamping mechanism 5 comprises a buffering gun rack sliding part 5-1, a gas spring 5-2, a buffering gun rack support 5-3, a stop block 5-4, a hinge connecting block 5-5, a torsion spring hinge 5-6, a transverse clamping block 5-7, a vertical clamping block 5-8, a second pressure spring 5-9, a clamping support 5-10 and a stop block switch 5-11.
The buffer gun rack support 5-3 is connected with the buffer gun rack sliding part 5-1 through the gas spring 5-2 by using bolts to form a moving pair, a buffer mechanism is initially formed, most of recoil generated during gun shooting is recoil parallel to the axis direction of the gun barrel, the buffer gun rack sliding part 5-1 is parallel to the axis direction of the clamped gun barrel, and the compression axis direction of the gas spring 5-2 is also parallel to the axis of the gun barrel, so that the buffer mechanism can offset most of recoil generated during gun shooting, and continuous and stable shooting of the gun is facilitated.
Wherein, the clamping support 5-10 is fixedly connected with the buffering gun rack sliding part 5-1 through screws, the positions can be adjusted through different hole sites, a second pressure spring 5-9 is clamped between the vertical clamping block 5-8 and the clamping support 5-10 to form a moving pair, the vertical clamping block 5-8 is fixedly connected with the stop switch 5-11 through screws, a second pressure spring 5-9 is clamped between the horizontal clamping block 5-7 and the clamping support 5-10 to form a moving pair, the horizontal clamping block 5-7 is fixedly connected with the hinge connecting block 5-5 through screws, the hinge connecting block 5-5, the torsion spring hinge 5-6 and the stop 5-4 are fixedly connected through screws, the fixedly connected position of the clamping support 5-10 on the buffering gun rack sliding part 5-1 can be adjusted according to different gun types, the vertical clamping block 5-8 and the pressure spring thereof are in an extending state, the stop switch 5-11 is attached to the clamping support 5-10, the stop blocks at two ends of the stop switch 5-11 support the stop block 5-4, the hinge connecting block 5-5, the torsion spring hinge 5-6 and the stop block 5-4 are in a parallel state, the transverse clamping block 5-7 and the pressure spring thereof are in a compressing state, when a firearm is put into the clamp, the side surface of the firearm is attached to the vertical clamping block 5-8 and is continuously pushed in, the vertical clamping block 5-8 and the pressure spring thereof are in a compressing state, the stop switch 5-11 is separated from the clamping support 5-10, the stop blocks at two ends of the stop switch 5-11 are also separated from the stop block 5-4, the transverse clamping block 5-7 extends under the action of the pressure spring and is self-adaptively attached to the upper end surface and the lower end surface of the firearm, completing self-adaptive clamping of the firearm; when the firearm is disassembled, only the two hinge connecting blocks 5-5 are pulled to enable the transverse clamping blocks 5-7 and the pressure springs thereof to be in a compressed state, the stop blocks at the two ends of the stop block switch 5-11 support the stop blocks 5-4, and the hinge connecting blocks 5-5, the torsion spring hinges 5-6 and the stop blocks 5-4 are in a parallel state, so that the firearm can be easily taken out; the buffer gun rack support 5-3 is fixedly connected with the top end of the fourth connecting rotating shaft 4-3 through a screw.
Referring to fig. 1, 7 and 8, the electric shock mechanism 6 includes a firing bar 6-1, a connecting member 6-2 and an electric push rod 6-3.
The firing rod 6-1 is connected with the buffering gun rack sliding piece 5-1 through a screw to form a revolute pair, the electric push rod 6-3 is connected with the firing rod 6-1 and the electric push rod 6-3 through the connecting piece 6-2, the firing rod 6-1 is directly attached to a trigger of a gun, and the trigger is pulled by the electric control electric push rod 6-3 to trigger the firing rod 6-1, so that electric control firing of the gun is realized.
Claims (10)
1. The electric shock generating wearable weapon arm with the adjustable base is characterized by comprising a back frame (8), a four-degree-of-freedom mechanical arm mechanism connected with the back frame (8) through a sliding rail, and a gun frame mechanism connected with the tail end of the mechanical arm mechanism;
the four-degree-of-freedom mechanical arm mechanism comprises a mechanical arm base (7), a first degree-of-freedom mechanism (1), a second degree-of-freedom mechanism (2), a third degree-of-freedom mechanism (3) and a fourth degree-of-freedom mechanism (4);
the gun rack mechanism comprises a buffering clamping mechanism (5) and an electric shock sending mechanism (6), wherein the buffering clamping mechanism (5) is used for clamping the gun and buffering during firing, and the electric shock sending mechanism (6) is used for sending electric shock to the gun.
2. Weapon arm according to claim 1, characterized in that the back frame (8) is provided with two rows of sliding rails, on which holes are provided continuously and evenly distributed, the manipulator base (7) comprises a base body and base locking mechanisms arranged on both sides of the base body for realizing the movement and locking of the manipulator base (7) on the back frame sliding rails, the first degree of freedom mechanism (1) being fixed on the base body.
3. Weapon arm according to claim 2, wherein the base locking mechanism comprises a catch (7-1), a slide mount (7-2), a first compression spring (7-3) and a key (7-4);
the baffle key (7-1) is provided with holes which are uniformly distributed on the sliding rail and matched with bulges, a connecting block which penetrates through the sliding block seat (7-2) and is connected with the key (7-4) is also arranged, and a first pressure spring (7-3) is arranged between the key (7-4) and the sliding block seat (7-2); the connecting block slides in the sliding block seat (7-2) by pressing the key (7-4) and the bulge is separated from the hole on the sliding rail, so that the sliding of the base on the sliding rail is realized, and when the base slides to a required position, the key (7-4) and the bulge on the baffle key (7-1) are loosened and enter the hole of the sliding rail, so that the fixing of the position of the base on the sliding rail is realized.
4. A weapon arm according to claim 3, wherein the first degree of freedom mechanism (1) comprises a first degree of freedom support (1-1), a first deep groove ball bearing (1-2), a first connecting swivel (1-3) and a first motor (1-4);
the upper end of the first freedom degree support (1-1) is designed into a multi-tooth encircling type, the first deep groove ball bearing (1-2) is positioned in a ring formed by multi-tooth encircling, support teeth are connected with the outer ring of the first deep groove ball bearing (1-2), the outer ring of the upper end of the first connecting rotating shaft (1-3) is connected with the inner ring of the first deep groove ball bearing (1-2), the top end of the first connecting rotating shaft (1-3) is fixedly connected with the second freedom degree support (2-1) through a screw, the lower end of the first connecting rotating shaft is fixedly connected with the first motor (1-4) through a screw, the first motor (1-4) is fixedly connected with the first freedom degree support (1-1) through a bolt, and the lower end of the first freedom degree support (1-1) is fixedly connected with the base body through a bolt;
the rotating direction of the first connecting rotating shaft (1-3) is the normal direction of the mechanical arm base, and the rotating angle of the first degree of freedom is 0-360 degrees.
5. Weapon arm according to claim 4, wherein the second degree of freedom mechanism (2) comprises a second degree of freedom support (2-1), a second deep groove ball bearing (2-2), a second connecting spindle (2-3), a second motor (2-4);
the upper end of the second freedom degree support (2-1) is designed to be a multi-tooth encircling type, the second deep groove ball bearing (2-2) is positioned in a ring formed by multi-tooth encircling, support teeth are connected with the outer ring of the second deep groove ball bearing (2-2), the outer ring of the upper end of the second connecting rotating shaft (2-3) is connected with the inner ring of the second deep groove ball bearing (2-2), the top end of the second connecting rotating shaft (2-3) is fixedly connected with the third support (3-1) through a screw, the lower end of the second connecting rotating shaft is fixedly connected with the second motor (2-4) through a screw, the second motor (2-4) is fixedly connected with the second freedom degree support (2-1) through a screw, and the lower end of the second freedom degree support (2-1) is fixedly connected with the first connecting rotating shaft (1-3) through a screw;
the rotation direction of the second connecting rotating shaft (2-3) is perpendicular to the rotation direction of the first connecting rotating shaft (1-3), and the rotation angle of the second degree of freedom is 0-180 degrees.
6. Weapon arm according to claim 5, wherein the third degree of freedom mechanism (3) comprises in sequence a third degree of freedom support (3-1), a third deep groove ball bearing (3-2), a third connecting spindle (3-3) and a third motor (3-4);
the upper end of the third freedom degree support (3-1) is designed into a multi-tooth encircling type, the third deep groove ball bearing (3-2) is positioned in a ring formed by multi-tooth encircling, support teeth are connected with the outer ring of the third deep groove ball bearing (3-2), the outer ring of the upper end of the third connecting rotating shaft (3-3) is connected with the inner ring of the third deep groove ball bearing (3-2), the top end of the third connecting rotating shaft (3-3) is fixedly connected with the fourth freedom degree support (4-1) through a screw, the lower end of the third connecting rotating shaft is fixedly connected with the third motor (3-4) through a screw, the third motor (3-4) is fixedly connected with the third freedom degree support (3-1) through a bolt, and the lower end of the third freedom degree support (3-1) is fixedly connected with the second connecting rotating shaft (2-3) through a screw;
the rotation direction of the third connecting rotating shaft (3-3) is perpendicular to the rotation direction of the second connecting rotating shaft (2-3), and the rotation angle of the third degree of freedom is 0-360 degrees.
7. Weapon arm according to claim 6, wherein the fourth degree of freedom mechanism (4) comprises a fourth degree of freedom support (4-1), a fourth deep groove ball bearing (4-2), a fourth connecting spindle (4-3) and a fourth motor (4-4);
the upper end of the fourth freedom degree support (4-1) is designed to be a multi-tooth encircling type, the fourth deep groove ball bearing (4-2) is positioned in a ring formed by multi-tooth encircling, support teeth are connected with the outer ring of the fourth deep groove ball bearing (4-2), the outer ring of the upper end of the fourth connecting rotating shaft (4-3) is connected with the inner ring of the fourth deep groove ball bearing (4-2), the top end of the fourth connecting rotating shaft (4-3) is fixedly connected with the buffering gun rack support (5-3) through a screw, the lower end of the fourth connecting rotating shaft is fixedly connected with the fourth motor (4-4) through a screw, the fourth motor (4-4) is fixedly connected with the fourth freedom degree support (4-1) through a bolt, and the lower end of the fourth freedom degree support (4-1) is fixedly connected with the third connecting rotating shaft (3-3) through a screw;
the rotation direction of the fourth connecting rotating shaft (4-3) is perpendicular to the rotation direction of the third connecting rotating shaft (3-3), and the rotation angle of the fourth degree of freedom is 0-180 degrees.
8. Weapon arm according to claim 7, wherein the buffer clamping mechanism (5) comprises a buffer rack slide (5-1), a gas spring (5-2), a buffer rack support (5-3), a rail for sliding the buffer rack slide arranged on the buffer rack support, and a firearm clamping mechanism;
the buffering gun rack support (5-3) is connected with the buffering gun rack sliding part (5-1) through the gas spring (5-2) by using bolts to form a moving pair, a buffering mechanism is formed preliminarily, the buffering gun rack sliding part (5-1) is parallel to the axis direction of the clamped gun barrel, and the compression axis direction of the gas spring (5-2) is parallel to the axis of the gun barrel;
the firearm is connected into a relative whole through the firearm clamping mechanism and the buffering gun rack sliding part (5-1), and when the firearm is fired, the buffering gun rack sliding part (5-1) clamped with the firearm compresses the gas spring (5-2) and slides in the guide rail on the buffering gun rack support, so that the recoil generated by firing the firearm is buffered.
9. The weapon arm according to claim 8, wherein the firearm clamping mechanisms are two groups symmetrically arranged on the buffer rack slide (5-1), each group of firearm clamping mechanisms comprises an upper stop block (5-4), a lower stop block (5-5), an upper hinge connection block (5-5), a lower hinge connection block (5-6), an upper vertical clamping block (5-7), a horizontal clamping block (5-8), a plurality of second compression springs (5-9), a clamping support (5-10) in a U-like shape and a stop switch (5-11);
the middle part of the clamping support (5-10) is fixedly connected with the end part of the buffering gun rack sliding part (5-1) through a screw, a second pressure spring (5-9) is clamped between the upper transverse clamping block (5-7) and the clamping support (5-10) respectively, the second pressure spring is fixedly connected with the hinge connecting block (5-5) through the screw to form a moving pair, the connecting rod of the vertical clamping block (5-8) penetrates through the second pressure spring and the clamping support and then is fixedly connected with the stop block switch (5-11) through the screw, the hinge connecting block (5-5), the torsion spring hinge (5-6) and the stop block (5-4) are fixedly connected through the screw, and the inner side of the rotation angle of the hinge connecting block (5-5) and the stop block (5-4) relative to the torsion spring hinge (5-6) is the largest by 180 degrees.
10. The weapon arm of claim 9, wherein the shock-delivery mechanism (6) comprises a firing bar (6-1), a connector and an electric push rod (6-3);
the firing rod (6-1) is connected with the buffering gun rack sliding piece (5-1) through a screw to form a revolute pair, two ends of the electric push rod (6-3) are respectively connected with the firing rod (6-1) and the electric push rod (6-3) through connecting pieces, a cylindrical part which is directly attached to a gun trigger is arranged at the end part of the firing rod (6-1), and the electric control firing of the gun is realized by pulling the firing rod (6-1) through the electric control electric push rod (6-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310502621.9A CN116399172A (en) | 2023-05-06 | 2023-05-06 | Base-adjustable forearm-expanding electric shock-emitting wearable weapon arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310502621.9A CN116399172A (en) | 2023-05-06 | 2023-05-06 | Base-adjustable forearm-expanding electric shock-emitting wearable weapon arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116399172A true CN116399172A (en) | 2023-07-07 |
Family
ID=87010584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310502621.9A Pending CN116399172A (en) | 2023-05-06 | 2023-05-06 | Base-adjustable forearm-expanding electric shock-emitting wearable weapon arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116399172A (en) |
-
2023
- 2023-05-06 CN CN202310502621.9A patent/CN116399172A/en active Pending
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