CN207300039U - A kind of cannon is shot with ectoskeleton energization system - Google Patents
A kind of cannon is shot with ectoskeleton energization system Download PDFInfo
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- CN207300039U CN207300039U CN201720891972.3U CN201720891972U CN207300039U CN 207300039 U CN207300039 U CN 207300039U CN 201720891972 U CN201720891972 U CN 201720891972U CN 207300039 U CN207300039 U CN 207300039U
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- energization system
- waist
- shaft
- cannon
- shot
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Abstract
The utility model discloses a kind of cannon to shoot with ectoskeleton energization system, including balance car, is provided with balance car for aiding in the rotating swivel base of soldier's body, skeleton trunci energization system is provided with swivel base；Skeleton trunci energization system includes two parallel leg support frames, the waist fixing device for fixing soldier's waist is provided with the top of two parallel leg support frames, in waist fixing device waist bracket is provided with the middle part of top surface, the junction of waist bracket and waist fixing device, which is equipped with, to be used to aid in the waist movement mechanism that soldier bends over, horizontal positioned shoulder support is provided with the top of waist bracket, the both ends of shoulder support are respectively equipped with arm bone energization system；The end of arm bone energization system is provided with crawl energization system.The utility model makes artilleryman effectively act on all load on intelligent carriage when operation, has reached saving artilleryman's physical efficiency purpose, has avoided because of injury of the high intensity operations task to artilleryman's cervical vertebra, vertebra.
Description
Technical field
The utility model belongs to mechanical design field, and in particular to a kind of manually wearable cannon is shot with ectoskeleton energization
System.
Background technology
Shell filling is an important factor for determining war win and defeat as the essential link of battlefield operation.At present, shell
Filling work completed substantially by manpower, for artilleryman, single, which is shot, to be rapidly completed, but in the work of current high intensity
Fight under environment, the great work intensity of soldier, can not often meet the requirement of each side.And be also easy to cause the cervical vertebra of soldier,
The problem of vertebra etc..
When soldier performs the task of high-risk excessive risk, operational environment is severe, and operation intensity is high.Possessing the physical efficiency of abundance is
Keep the key of fighting capacity.At this moment the physical efficiency guarantee of soldier just becomes one of principal element for determining war win and defeat.For big gun
Play for filling person, generally require continual repetition and lift tens kilograms of shell to carry out shooting operation, easily overdraw soldier
Physical efficiency.Shot there is an urgent need to a kind of cannon and carried out high-strength working with ectoskeleton energization system, help soldier, overcome difficulties ring
Border, does not consume too many physical efficiency, and then increases substantially Operational Effectiveness Rat.
The ectoskeleton energization system currently developed, mostly using motor direct-drive, motor is arranged in joint, no
But the flexibility of spatial movement is influenced, and the driving moment produced due to driving motor own wt greatly reduces machine
The driving force of tool arm.
The content of the invention
In order to solve above-mentioned problems of the prior art, the utility model aims to provide a kind of cannon and shoots with outer
Bone energization system.
Technical solution is used by the utility model：
A kind of cannon is shot with ectoskeleton energization system, for aiding in soldier to be shot into cannon, including balance car, it is described
It is provided with balance car for aiding in the rotating swivel base of soldier's body, skeleton trunci energization is provided with the swivel base
System；
The skeleton trunci energization system includes two parallel leg support frames, is set at the top of two parallel leg support frames
It is equipped with the waist fixing device for fixing soldier's waist, waist branch is provided with the middle part of top surface in the waist fixing device
The junction of frame, the waist bracket and waist fixing device, which is equipped with, to be used to aid in the waist movement mechanism that soldier bends over, described
Horizontal positioned shoulder support is provided with the top of waist bracket, the both ends of the shoulder support are respectively equipped with arm bone energization
System；
The arm bone energization system includes：Big arm link, forearm double leval jib, for aiding in big arm link to do outside interior receipts
Open up the first shoulder joint kinesitherapy mechanism of movement, stretch the second shoulder joint exercise machine of movement after forerunner for aiding in big arm link to be
Structure, for aiding in forearm double leval jib to do the 3rd shoulder joint kinesitherapy mechanism of flexion and extension；
The big arm link is connected with the end of shoulder support by the first shoulder joint kinesitherapy mechanism, second shoulder joint
Section motion is arranged on the junction of big arm link and the first shoulder joint kinesitherapy mechanism, the forearm double leval jib and the first shoulder joint
Section motion is connected by the 3rd shoulder joint kinesitherapy mechanism；
The end of the arm bone energization system is provided with crawl energization system, and the crawl energization system is used to aid in
Soldier positions the position of shell, and realizes the crawl to shell and the release to shell.
Further, the crawl energization system includes front end handgrip, and the front end handgrip includes two at right angles bendings
Rigid link, described two rectangular curved rigid links intersect, and infall is equipped with a hinge for carrying torque spring
Spindle, the intersecting angle that two rectangular curved rigid links are formed is with the length of two rectangular curved rigid links
The reduction of distance between right-angle side end and reduce.
Further, the long right-angle side end of every rectangular curved rigid link is hinged axis connection by the first flexible cable
There are two rigid straight-bars, two rigid straight-bars are connected by the second flexible cable articulated shaft, and every rigid straight-bar all can be soft around second
Rope articulated shaft and the handing-over axis rotation of the first flexible cable, between the long right-angle side end of two rectangular curved rigid links distance with
The reduction of the angle between two rigid straight-bars and reduce；
The crawl energization system further includes handgrip fixed plate, and the Upper vertical of the handgrip fixed plate offers a bar shaped
Opening, the second flexible cable articulated shaft are connected by strip gab with handgrip fixed plate；The arranged on left and right sides of handgrip fixed plate point
Do not offer a curved arc opening in central axes to handgrip fixed plate, the first flexible cable articulated shaft by arc opening with
Handgrip fixed plate is connected；
The articulated shaft with torque spring is connected with the lower part of handgrip fixed plate；
The bottom of the handgrip fixed plate is equipped with a 3D cameras.
Further, the second flexible cable articulated shaft is driven by the motor in swivel base.
Further, the first shoulder joint kinesitherapy mechanism includes first rotating shaft and two flexible cables, and two flexible cables can
First rotating shaft is driven to be rotated counterclockwise and rotated clockwise respectively；
The second shoulder joint kinesitherapy mechanism includes the second shaft and two flexible cables, and two flexible cables can drive respectively
Two shafts are rotated counterclockwise and rotated clockwise；
The 3rd shoulder joint kinesitherapy mechanism includes the 3rd shaft and two flexible cables, and two flexible cables can drive respectively
Three shafts are rotated counterclockwise and rotated clockwise；
Waist movement mechanism includes waist shaft and two flexible cables, and two flexible cables can drive waist shaft to carry out respectively
Rotate counterclockwise and rotate clockwise.
Further, two flexible cables are driven by two motors in swivel base respectively.
Further, two grooves are both provided with the first rotating shaft, the second shaft, the 3rd shaft and waist shaft,
Two flexible cables are separately fixed in two grooves.
Further, two gyro sensors are provided with the swivel base, two gyro sensors distinguish position
In the outside of two parallel leg support frames.
Further, the big arm link is equipped with large arm protector, the front portion of the large arm protector inner surface, rear portion and outer
Stretch place and be separately installed with gyro sensor；
The forearm double leval jib is equipped with forearm protector, and the front and rear of the forearm protector inner surface is respectively equipped with top
Spiral shell instrument sensor；
The both sides of the shoulder support are respectively equipped with gyro sensor.
Further, the gyro sensor can be flat to being arranged on by the signal transmission that sensor exports by bluetooth
In the in-car controller of weighing apparatus.
Compared with prior art, the utility model has following technique effect：
(1) the utility model is driven using flexible cable, it is possible to achieve the transmission of any distance and any space torque；And flexible cable
Drive system structure is soft, small space can be passed through to carry out long-distance transmission, motor arrangement is convenient, flexible, greatly simplifies machinery
The design of device；
(2) the scissor dexterous handgrip that the utility model uses can capture the shell of Different Rule model, solve general
Logical manipulator captures the problem of object is single, has crawl structure general；
(3) the utility model employs the technology that pushing-pulling flexible shaft is merged with quadric chain, simplifies setting for ancon joint
Meter, reduces the transmission mechanism and execution unit in ancon joint, improves the flexibility in ancon joint；
(4) the utility model employs Wire driven robot shoulder space torque shaft to realize the abduction of shoulder/inside contract, preceding
Bend/after stretch, shoulder space torque shaft stability is high, has reached accuracy, stability, the flexible mesh in space of ammunition feed process
Mark；
(5) the utility model makes soldier effectively act on all load on balance car when operation, reaches
The purpose of Physical Fitness For Soldiers is saved, is avoided because of injury of the high intensity operations task to artilleryman's cervical vertebra, vertebra.
Brief description of the drawings
Fig. 1 is the integrally-built front view of the utility model；
Fig. 2 is the integrally-built left view of the utility model；
Fig. 3 is the arm bone energization system schematic of the utility model；
Fig. 4 is the utility model shoulder and bindiny mechanism's junction enlarged drawing of arm bone energization system；
Fig. 5 is the handgrip schematic diagram of the utility model；
Fig. 6 is the schematic rear view of Fig. 5；
Fig. 7 is pushing-pulling flexible shaft schematic diagram；
Each label represents in figure：1-balance car；2-swivel base；3-gyro sensor；4-leg support frame；5—
Waist fixing device；6-shoulder support；7-waist bracket；8-waist movement mechanism；9-forearm protector；10-large arm is protected
Tool；11-big arm link；12-shoulder and mechanical arm bindiny mechanism；13-the first shoulder joint kinesitherapy mechanism；14-shoulder space
Torque shaft；15-forearm double leval jib；16-the second shoulder joint kinesitherapy mechanism；17-the three shoulder joint kinesitherapy mechanism；18-the
Two flexible cable articulated shafts；19-handgrip fixed plate；20-the articulated shaft with torque spring；21-3D cameras；22-the first turn
Axis；23-the first flexible cable articulated shaft.
Embodiment
Forward and backward, the upper and lower front for referring respectively to soldier's body, rear in the utility model, above and below.
Below by drawings and examples, the utility model is described in further detail.
Embodiment 1
Present embodiments provide a kind of cannon to shoot with ectoskeleton energization system, such as Fig. 1,2, which is used to aid in soldier
Shoot, including balance car 1, be provided with the balance car for aiding in the rotating swivel base 2 of soldier's body, institute into cannon
State and skeleton trunci energization system is provided with swivel base 2；
Swivel base 2 can carry out the rotation of certain angle on balance car 1, can aid in soldier when being shot to cannon
The rotation position of body can be adjusted in real time.
The skeleton trunci energization system includes two parallel leg support frames 4, such as Fig. 1, the leg branch in the present embodiment
Frame 4 is two rigidity being vertically arranged bodies of rod, its length should be grown with the leg of soldier to be adapted；Two parallel leg support frames 4
Top is provided with the waist fixing device 5 for fixing soldier's waist, and waist fixing device 5 is using waist in the present embodiment
Ergonomics waistband, the waist upper position of soldier is fixed on device；Top surface in the waist fixing device 5
Middle part is provided with waist bracket 7, and the waist bracket of the present embodiment is a rigid body of rod, its height should be with the upper half height of soldier
Degree matches, and the junction of the waist bracket 7 and waist fixing device 5, which is equipped with, to be used to aid in the waist exercising equipment that soldier bends over
Structure 8, the top of the waist bracket 7 are provided with horizontal positioned shoulder support 6, and the both ends of the shoulder support 6 are respectively equipped with
Arm bone energization system；
Waist movement mechanism 8 in the present embodiment can make waist bracket forward fold to leg support frame, to assist soldier's
Bend over to act.
The arm bone energization system includes：Big arm link 11, forearm double leval jib 15, for aiding in big arm link 11 to do
Interior the first shoulder joint kinesitherapy mechanism 13 for receiving abduction exercise, the second shoulder that movement is stretched for aiding in big arm link 11 to be after forerunner
Articulation mechanism 16, for aiding in forearm double leval jib 15 to do the 3rd shoulder joint kinesitherapy mechanism 17 of flexion and extension；
Interior receipts abduction exercise refers respectively to large arm close to the direction of the direction of body side and large arm away from body side；Before
Movement is stretched after drive refer respectively to large arm and moved to body forward and large arm to body rear；
The big arm link 11 is connected with the end of shoulder support 6 by the first shoulder joint kinesitherapy mechanism 13, and described
Two shoulder joint kinesitherapy mechanisms 16 are arranged on the junction of big 11 and first shoulder joint kinesitherapy mechanism 13 of arm link, and the forearm four connects
Bar 15 is connected with the first shoulder joint kinesitherapy mechanism 13 by the 3rd shoulder joint kinesitherapy mechanism 17；
The end of the arm bone energization system is provided with crawl energization system, and the crawl energizer is used to aid in
Soldier positions the position of shell, and realizes the crawl to shell and the release to shell.
Embodiment 2
The present embodiment provides crawl energization system, such as Fig. 5, including front end handgrip on the basis of embodiment 1, before described
End handgrip includes two rectangular curved rigid links, and described two rectangular curved rigid links intersect, and intersects
Place is equipped with an articulated shaft 20 for carrying torque spring, and the intersecting angle that two rectangular curved rigid links are formed is with two
Root at right angles between the long right-angle side end of curved rigid link the reduction of distance and reduce.
In order to adjust the distance between long right-angle side end of two rectangular curved rigid links, every at right angles curved
The long right-angle side end of bent rigid link is connected with two rigid straight-bars, two rigid straight-bars by the first flexible cable articulated shaft 23
It is connected by the second flexible cable articulated shaft 18, and two rigid straight-bars can be rotated around the second flexible cable articulated shaft 18 respectively, you can adjust
The angle of the rigid straight-bar of two, section；
The crawl energization system further includes handgrip fixed plate 19, and the Upper vertical of the handgrip fixed plate 19 offers one
Strip gab, the second flexible cable articulated shaft 18 are connected by strip gab with handgrip fixed plate 19；Handgrip fixed plate 19
Arranged on left and right sides offers a curved arc opening in central axes to handgrip fixed plate 19, the first flexible cable articulated shaft respectively
23 are connected by arc opening with handgrip fixed plate 19；The articulated shaft 20 with torque spring and handgrip fixed plate
19 lower part is connected；The second flexible cable articulated shaft 18 is driven by the motor in swivel base 2.
When motor pulls up the second flexible cable by flexible cable joins axis, opened since the second flexible cable articulated shaft 18 is stuck in bar shaped
In mouthful, so the second flexible cable articulated shaft 18 can move straight up along strip gab, so as to drive two first by flexible cable
Flexible cable articulated shaft 23 moves upwards, but two the first flexible cable articulated shafts 23 are stuck in two arc openings, and the second flexible cable
Rigid straight-bar is connected between 18 and first flexible cable articulated shaft 23 of articulated shaft so that angle between two rigid straight-bars is with the
Two flexible cable articulated shafts 18 are moved and reduced upwards, i.e. two the first flexible cable articulated shafts 23 must be inside while upward movement
Side is moved, so that the distance between two first flexible cable articulated shafts 23 reduce, i.e., two rectangular curved rigid links
The distance between long right-angle side end reduce, the distance between long right-angle side end of two rectangular curved rigid links
Reduce and may be such that the intersecting angle that two rectangular curved rigid links are formed reduces, realize the crawl of front end handgrip
Function；
When handgrip unclamps, since the articulated shaft 20 with torque spring can be with energy storage, so carrying torsion during motor reversal
The articulated shaft 20 of spring may be such that the intersecting angle that two rectangular curved rigid links are formed restores to the original state, that is, realizes and grab
The release of hand.
In order to position the position of shell, the bottom of the handgrip fixed plate 19 is equipped with a 3D cameras 21.
Embodiment 3
The present embodiment provides the first shoulder joint kinesitherapy mechanism 13 on the basis of embodiment 1, such as Fig. 3,6, including first
Shaft and two flexible cables, two flexible cables can drive first rotating shaft to be rotated counterclockwise and rotated clockwise respectively；
The movement for rotating counterclockwise and rotating clockwise the interior receipts abduction that can drive big arm link respectively of first rotating shaft.
Such as Fig. 4, the second shoulder joint kinesitherapy mechanism 16 includes the second shaft and two flexible cables, and two flexible cables can divide
The second shaft is not driven to be rotated counterclockwise and rotated clockwise；
Second shaft rotates counterclockwise and rotates clockwise the movement stretched after the forerunner that can drive big arm link respectively.
Such as Fig. 4, the 3rd shoulder joint kinesitherapy mechanism 17 includes the 3rd shaft and two flexible cables, and two flexible cables can divide
Not Dai Dong the 3rd shaft rotated counterclockwise and rotated clockwise；
3rd shaft rotates counterclockwise and rotates clockwise the movement that the drive of forearm double leval jib can be driven to stretch respectively.
Waist movement mechanism 8 includes waist shaft and two flexible cables, two flexible cables can drive respectively waist shaft into
Row is rotated counterclockwise and rotated clockwise；
Rotating counterclockwise and rotating clockwise for waist shaft can drive waist bracket forward fold to leg support frame respectively
Movement and away from leg support frame movement.
In the present embodiment, two flexible cables are driven by two stepper motors in swivel base 2 respectively, are led to
Cross the rotating that stepper motor realizes first rotating shaft, the second shaft, the 3rd shaft and waist shaft by two flexible cables.
In the present embodiment, two grooves, institute are both provided with first rotating shaft, the second shaft, the 3rd shaft and waist shaft
State and a mounting hole is both provided with groove, two flexible cables are separately fixed in the mounting hole of two grooves.
Embodiment 4
The present embodiment provides on the basis of embodiment 1 and two gyro sensors is provided with swivel base 2, two
Gyro sensor is respectively positioned at the outside of two parallel leg support frames.
The gyro sensor can by bluetooth by the signal transmission that sensor exports to being arranged in balance car 1
In controller.
When the left foot of soldier touches gyro sensor, gyro sensor is by the signal transmission received to balance car 1
Internal controller Bluetooth Receiver, controller send control instruction after receiving signal, think the stepper motor under swivel base 2
Anticlockwise, so that soldier realizes the spinfunction in loading process.
Embodiment 5
The present embodiment is distinguished as with embodiment 1：The big arm link 11 is equipped with large arm protector 10, the large arm protector
Front portion, rear portion and the overhanging place of 10 inner surfaces are separately installed with gyro sensor；
The forearm double leval jib 15 is equipped with forearm protector 9, and the front and rear of 9 inner surface of forearm protector is set respectively
There is gyro sensor；
The both sides of the shoulder support 6 are respectively equipped with gyro sensor.
The gyro sensor can by bluetooth by the signal transmission that sensor exports to being arranged in balance car 1
In controller.
Installation is pasted at shoulder support carry the gyro sensor of Bluetooth transmission function, when soldier bends over or stands erectly
When can contact gyro sensor, the signal received is passed through Bluetooth transmission and returns controller, controller by gyro sensor
Pass through the function of controlling the waist shaft shown in driving stepper motor 8 to bend over and stand erectly to complete soldier；
When the front sensors of soldier's touching effect large arm protector, controller drives the second shaft large arm is travelled forward,
When the rear sensor of soldier's touching effect large arm protector, controller drives the second shaft large arm is moved backward, when soldier touches
The overhanging sensor of effect large arm protector is touched, controller driving first rotating shaft makes large arm realize overhanging and Retraction.
When the front sensors of soldier's touching effect forearm protector, controller drives the 3rd shaft forearm is travelled forward,
When the rear sensor of soldier's touching effect forearm protector, controller drives the 3rd shaft forearm is moved backward.
Claims (10)
1. a kind of cannon is shot with ectoskeleton energization system, for aiding in soldier to be shot into cannon, it is characterised in that including flat
Weigh car (1), is provided with the balance car for aiding in the rotating swivel base of soldier's body (2), on the swivel base (2)
It is provided with skeleton trunci energization system；
The skeleton trunci energization system includes two parallel leg support frames (4), the top of two parallel leg support frames (4)
It is provided with the waist fixing device (5) for fixing soldier's waist, is provided with the waist fixing device (5) in the middle part of top surface
The junction of waist bracket (7), the waist bracket (7) and waist fixing device (5), which is equipped with, to be used to aid in the waist that soldier bends over
Portion's motion (8), is provided with horizontal positioned shoulder support (6), the shoulder support at the top of the waist bracket (7)
(6) both ends are respectively equipped with arm bone energization system；
The arm bone energization system includes：Big arm link (11), forearm double leval jib (15), for aiding in big arm link (11)
Do interior receipts abduction exercise the first shoulder joint kinesitherapy mechanism (13), for aid in big arm link (11) to be stretching after forerunner movement the
Two shoulder joint kinesitherapy mechanisms (16), for aiding in forearm double leval jib (15) to do the 3rd shoulder joint kinesitherapy mechanism of flexion and extension
(17)；
The big arm link (11) is connected with the end of shoulder support (6) by the first shoulder joint kinesitherapy mechanism (13), described
Second shoulder joint kinesitherapy mechanism (16) is arranged on the junction of big arm link (11) and the first shoulder joint kinesitherapy mechanism (13), described
Forearm double leval jib (15) is connected with the first shoulder joint kinesitherapy mechanism (13) by the 3rd shoulder joint kinesitherapy mechanism (17)；
The end of the arm bone energization system is provided with crawl energization system, and the crawl energization system is used to aid in soldier
The position of shell is positioned, and realizes the crawl to shell and the release to shell.
2. cannon as claimed in claim 1 is shot with ectoskeleton energization system, it is characterised in that the crawl energization system bag
Front end handgrip is included, the front end handgrip includes two rectangular curved rigid links, described two rectangular curved rigidity
Connecting rod intersects, and infall is equipped with an articulated shaft (20) for carrying torque spring, two rectangular curved rigid link institutes
The intersecting angle of formation reduces with the reduction of distance between the long right-angle side end of two rectangular curved rigid links.
3. cannon as claimed in claim 2 is shot with ectoskeleton energization system, it is characterised in that every at right angles curved firm
Property connecting rod long right-angle side end two rigid straight-bars are connected with by the first flexible cable articulated shaft (23), two rigid straight-bars pass through
Second flexible cable articulated shaft (18) is connected, and every rigid straight-bar all can be around the second flexible cable articulated shaft (18) and the first flexible cable handing-over axis
(23) rotate, distance is between two rigid straight-bars between the long right-angle side end of two rectangular curved rigid links
The reduction of angle and reduce；
The crawl energization system further includes handgrip fixed plate (19), and the Upper vertical of the handgrip fixed plate (19) offers one
Strip gab, the second flexible cable articulated shaft (18) are connected by strip gab with handgrip fixed plate (19)；Handgrip fixed plate
(19) arranged on left and right sides offers a curved arc opening in central axes to handgrip fixed plate (19) respectively, and described first is soft
Rope articulated shaft (23) is connected by arc opening with handgrip fixed plate (19)；
The articulated shaft (20) with torque spring is connected with the lower part of handgrip fixed plate (19)；
The bottom of the handgrip fixed plate (19) is equipped with a 3D cameras (21).
4. cannon as claimed in claim 3 is shot with ectoskeleton energization system, it is characterised in that the second flexible cable articulated shaft
(18) it is driven by the motor in swivel base (2).
5. cannon as claimed in claim 1 is shot with ectoskeleton energization system, it is characterised in that first shoulder joint kinesitherapy
Mechanism (13) includes first rotating shaft and two flexible cables, two flexible cables can drive respectively first rotating shaft rotate counterclockwise and
Rotate clockwise；
The second shoulder joint kinesitherapy mechanism (16) includes the second shaft and two flexible cables, and two flexible cables can drive respectively
Two shafts are rotated counterclockwise and rotated clockwise；
The 3rd shoulder joint kinesitherapy mechanism (17) includes the 3rd shaft and two flexible cables, and two flexible cables can drive respectively
Three shafts are rotated counterclockwise and rotated clockwise；
Waist movement mechanism (8) includes waist shaft and two flexible cables, and two flexible cables can drive waist shaft to carry out respectively
Rotate counterclockwise and rotate clockwise.
6. cannon as claimed in claim 5 is shot with ectoskeleton energization system, it is characterised in that two flexible cables are led to respectively
Two motors crossed in swivel base (2) are driven.
7. cannon as claimed in claim 5 is shot with ectoskeleton energization system, it is characterised in that the first rotating shaft, second
Two grooves are both provided with shaft, the 3rd shaft and waist shaft, two flexible cables are separately fixed in two grooves.
8. cannon as claimed in claim 1 is shot with ectoskeleton energization system, it is characterised in that on the swivel base (2)
Two gyro sensors are provided with, two gyro sensors are respectively positioned at the outside of two parallel leg support frames.
9. cannon as claimed in claim 1 is shot with ectoskeleton energization system, it is characterised in that on the big arm link (11)
Equipped with large arm protector (10), front portion, rear portion and the overhanging place of large arm protector (10) inner surface are separately installed with gyroscope biography
Sensor；
The forearm double leval jib (15) is equipped with forearm protector (9), the front and rear difference of forearm protector (9) inner surface
Equipped with gyro sensor；
The both sides of the shoulder support (6) are respectively equipped with gyro sensor.
10. cannon as claimed in claim 9 is shot with ectoskeleton energization system, it is characterised in that the gyro sensor
Can by bluetooth by the signal transmission that sensor exports into the controller being arranged in balance car (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720891972.3U CN207300039U (en) | 2017-07-21 | 2017-07-21 | A kind of cannon is shot with ectoskeleton energization system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720891972.3U CN207300039U (en) | 2017-07-21 | 2017-07-21 | A kind of cannon is shot with ectoskeleton energization system |
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| Publication Number | Publication Date |
|---|---|
| CN207300039U true CN207300039U (en) | 2018-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720891972.3U Expired - Fee Related CN207300039U (en) | 2017-07-21 | 2017-07-21 | A kind of cannon is shot with ectoskeleton energization system |
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| CN (1) | CN207300039U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107588677A (en) * | 2017-07-21 | 2018-01-16 | 长安大学 | A kind of cannon is shot with ectoskeleton energization system |
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2017
- 2017-07-21 CN CN201720891972.3U patent/CN207300039U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107588677A (en) * | 2017-07-21 | 2018-01-16 | 长安大学 | A kind of cannon is shot with ectoskeleton energization system |
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