Modularized light rifle weapon station

Abstract

The invention discloses a modular light rifle weapon station which comprises a modular base. The weapon station main structure is connected between the modular base and the modular cradle and used for driving the direction movement and the pitching movement of the carried rifle and providing a rotary cable interface for the control module; the modular cradle is used for clamping and fixing the firearms, providing connection for the observing and aiming module and bearing recoil impact load in the shooting process; the external shooting control execution module is connected with a grip of the carried rifle and drives a trigger of the carried rifle and a fast and slow machine mechanism to move; the observing and aiming module is used for acquiring image information of a target; and the control module is used for identifying and positioning a target, controlling the weapon station main structure to perform directional movement and pitching movement, outputting a control instruction to the external shooting control execution module, driving the trigger to realize shooting action, and driving the fast and slow machine shifting block to rotate to complete firearm gear switching. The method has excellent shooting precision and striking performance.

Description

Technical Field

[0001] This invention relates to the field of weaponry, and more specifically to a modular lightweight rifle weapon station for unmanned mobile vehicles. Background Technology

[0002] Modern warfare is trending towards unmanned and automated operations, with unmanned vehicles and lightweight remote weapon stations gradually being deployed on the battlefield. Most existing remote weapon stations are designed for medium and large caliber weapons, resulting in significant overall weight and size, making them difficult to directly adapt to standard light rifles. While some weapon stations designed for rifles have simplified their structure, they still generally suffer from the following problems: 1. They often employ a monolithic configuration with low modularity. If any component is damaged, rapid repair and replacement in a battlefield environment is difficult, and flexible switching based on different weapon types and usage scenarios is inconvenient. 2. They often use gear or belt drives, resulting in relatively large transmission mechanisms, limited reduction ratios, and a prevalent backlash, making it difficult to meet the requirements of lightweight weapon stations for attitude stability and firing accuracy. 3. The key support components have relatively simple structures. The support arm components have not been systematically optimized in terms of stiffness requirements, vibration characteristics, and lightweight specifications, making them prone to significant vibrations during continuous fire, affecting firing accuracy. 4. The connections between components were not designed to withstand the instantaneous recoil impact of firing, relying solely on bolt assemblies to directly bear the impact force. This easily leads to vibration and affects firing accuracy. Furthermore, the motor lacks effective protection under impact conditions, and there is a lack of a reasonable load-sharing path. These problems limit the use of light weapon stations on unmanned vehicles and restrict their combat performance. Summary of the Invention

[0003] The purpose of this invention is to address the aforementioned deficiencies in the existing technology by providing a modular lightweight rifle weapon station with a high degree of modularity, strong adaptability, and high rotational motion accuracy. It uses an optimized support arm structure and has a series of impact-resistant connection structures, resulting in excellent vibration resistance during firing. It also possesses excellent firing accuracy and impact performance.

[0004] The technical solution to achieve the purpose of this invention is as follows:

[0005] A modular lightweight rifle weapon station, comprising:

[0006] Modular base for ground support of the entire modular light rifle weapon station, or for connecting the entire modular light rifle weapon station to an unmanned vehicle;

[0007] The main structure of the weapon station is connected between the modular base and the modular cradle. It is used to drive the directional and pitch movements of the mounted rifle and to provide a rotating cable interface for the control module.

[0008] Modular cradle is used to clamp and fix different models of firearms with Picatinny interfaces, and provides Picatinny rails for connecting sight modules, and withstands the recoil impact load during firing;

[0009] An external fire control module is connected to the grip of the rifle and drives the movement of the trigger and fire selector mechanism of the rifle.

[0010] The observation and aiming module is used to acquire image information of the target;

[0011] The control module is used to identify and locate targets based on the acquired image information, control the main structure of the weapon station to perform directional and pitch movements, output control commands to the external fire control execution module, drive the trigger to achieve the firing action, and drive the fire selector switch to rotate to complete the firearm gear switching.

[0012] The significant advantages of this invention compared to existing technologies are:

[0013] (1) This invention has a high degree of modularity. The functional units of this lightweight rifle weapon station form relatively independent connection relationships, such as the base, cradle, observation and aiming module, and control module, which facilitates rapid replacement and maintenance during wartime. The directional motor and the elevation motor are integrated into the main structure of the weapon station, which realizes a simplified mechanism connection between the base and the cradle, which is conducive to the overall compact structure and modular design.

[0014] (2) The present invention uses a harmonic reducer joint motor as a driving device, which has the characteristics of high reduction ratio and no backlash, and can improve the accuracy of weapon station attitude adjustment and the positioning stability of long-range shooting.

[0015] (3) The L-shaped support arm of the present invention is designed by a multi-objective topology optimization algorithm based on vibration mode and stiffness. It achieves high lightweight while having higher overall stiffness and mechanical performance, thereby improving the stability and accuracy of the weapon station in continuous firing.

[0016] (4) This invention features a series of impact-resistant connection structures: the cradle's guide rail clamping mechanism is equipped with lugs corresponding to the weapon guide rail; the cradle and the weapon station main body are fitted with a cross-shaped positioning boss; two sets of crossed roller bearings are configured to withstand the overturning load during the recoil impact process, significantly improving the service life of the motor without significantly increasing the size of the mechanism. Teflon gaskets are used to seal the rotation gap, resulting in lower friction compared to traditional rubber gasket sealing structures, thus meeting the requirements for high-precision rotation. Attached Figure Description

[0017] Appendix Figure 1 Appendix Figure 2 This is a schematic diagram of the overall structure of the present invention;

[0018] Appendix Figure 3 This is a structural diagram of the observation and aiming module of the present invention;

[0019] Appendix Figure 4 This is a structural diagram of the external firing control module of the present invention;

[0020] Appendix Figure 5 This is a structural diagram of the servo base of the external firing control module of the present invention;

[0021] Appendix Figure 6 Appendix Figure 7 This is a structural diagram of the modular cradle of the present invention;

[0022] Appendix Figure 8 This is a cross-sectional view of the modular cradle structure of the present invention;

[0023] Appendix Figure 9 This is a structural diagram of the weapon station of the present invention;

[0024] Appendix Figure 10 This is a cross-sectional structural diagram of the main structure of the weapon station of the present invention;

[0025] Appendix Figure 11 Appendix Figure 12 This is a structural diagram of the L-shaped topology-optimized support arm in the main structure of the weapon station of the present invention;

[0026] Appendix Figure 13 This is a structural diagram of the modular base (carrier connection type base) of the present invention;

[0027] Appendix Figure 14 This is a structural diagram of the modular base (tripod-type base) of the present invention;

[0028] Appendix Figure 15 This is the preset design domain model used in the multi-objective topology optimization algorithm for the L-shaped topology optimization support arm of the present invention.

[0029] In the image above: 1. Observation and aiming module; 2. External fire control execution module; 3. Mounted rifle; 4. Modular cradle; 5. Weapon station main structure; 6. Control module; 7. Modular base.

[0030] 1.1 Frame, 1.2 Sight, 1.3 Electronic eyepiece mount, 1.4 Electronic eyepiece;

[0031] 2.1 Clamping plate, 2.2 Servo base, 2.3 High torque servo, 2.4 Trigger lever, 2.5 Speed ​​selector lever;

[0032] 4.1 The main body of the cradle, 4.2 The frame base, 4.3 The side clamping block, 4.4 The handle screw, 4.5 The cylindrical pin, 4.6 The spring;

[0033] 5.1 L-shaped topology optimized support arm, 5.2 harmonic joint motor, 5.3 crossed roller bearing, 5.4 Teflon gasket, 5.5 rocker arm connecting flange, 5.6 base connecting flange, 5.7 base connecting flange end cover, 5.8 steering motor end cover, 5.9 high / low gear motor end cover, 5.10 slip ring, 5.11 cable interface;

[0034] 7.1 Vehicle-connecting base, 7.2 Tripod-type base. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0036] Combined with appendix Figure 1-14 The modular lightweight rifle weapon station of the present invention mainly consists of an observation and aiming module 1, an external fire control execution module 2, a mounted rifle 3, a modular cradle 4, a main structure of the weapon station 5, a control module 6, and a modular base 7. The main structure 5 serves as the overall load-bearing and motion execution body. Its bottom is connected to the modular base 7 via a base connecting flange 5.6, and the two are fixedly connected by a circumferentially distributed ring of bolts. Its upper part is fastened to the modular cradle 4 via a cradle connecting flange 5.5 and bolts. A cross-shaped positioning boss is provided on the cradle body 4.1 of the modular cradle 4, and this cross-shaped boss and the corresponding cross-shaped groove on the cradle connecting flange 5.5 form a circumferential positioning. The control module 6 is fixedly connected to the support arm 5.1 of the main structure 5 of the weapon station via bolts. The rifle 3 is clamped to the modular cradle 4 via a Picatinny rail on its body; the sighting module 1 is connected to the Picatinny rail structure at the sight mount 4.2 on the modular cradle 4 via the scope mount 1.1; the external fire control module 2 is fixed to the grip and trigger structure of the rifle 3 via the clamping structure formed by the servo base 2.2 and the clamping plate 2.1, thus completing the mechanical connection between the seven modules.

[0037] The electrical and signal connection paths of the weapon station are as follows: External power is input through cable interface 5.11 on the main structure 5 of the weapon station and transmitted to the upper area via slip ring 5.10 inside the main structure, supplying power to the two sets of harmonic joint motors 5.2 and control module 6 respectively. Control module 6 is connected to the two sets of harmonic joint motors 5.2 via control signal lines to output attitude control commands. Control module 6 is connected to the external fire control execution module 2 via connecting lines to provide power to the servo motors and output control signals for the trigger and fire selector. Control module 6 is connected to the electronic eyepiece 1.4 in the observation and aiming module 1 via signal connecting lines to acquire and process aiming image signals, thereby achieving coordinated operation of weapon pointing control and firing control.

[0038] The aiming module 1 mainly consists of a frame 1.1, a scope 1.2, an electronic eyepiece mount 1.3, and an electronic eyepiece 1.4. The upper end of the frame 1.1 is secured to the front and rear barrels of the scope 1.2 via retaining rings. The electronic eyepiece mount 1.3 has a two-part structure, with the two parts fastened together by bolts, forming a close-fitting clamp to the outer barrel of the eyepiece end of the scope 1.2. The electronic eyepiece 1.4 is connected to the electronic eyepiece mount 1.3 by bolts. The electronic eyepiece 1.4 is positioned at the exit pupil of the scope 1.2, and its entrance pupil position and sensor size match the exit pupil range of the scope 1.2. The electronic eyepiece 1.4 uses a CMOS imaging device with approximately 5 million effective pixels, a horizontal field of view of 32°, and a 1 / 2.5" sensor with a diagonal dimension of 7.18 mm.

[0039] The external fire control module 2 mainly consists of a clamping plate 2.1, a servo base 2.2, a high-torque servo motor 2.3, a trigger lever 2.4, and a fire selector lever 2.5, with two high-torque servo motors 2.3. The servo base 2.2 is the main structure of the module, and its shape matches the contour of the grip of the rifle 3. The servo base 2.2 has a groove for accommodating the grip, and the inner surface of the groove has raised structures corresponding to the grip's texture to enhance contact friction and positioning stability. The clamping plate 2.1 is connected to the servo base 2.2 by bolts. During installation, the grip of the rifle 3 is inserted into the groove of the servo base 2.2, and the bolts are tightened to press the clamping plate 2.1 against the servo base 2.2, thereby clamping and fixing the grip of the rifle 3. Two high-torque servo motors 2.3 are respectively bolted to the servo motor base 2.2. Their output ends are respectively bolted to the trigger lever 2.4 and the speed selector block 2.5, which are used to drive the trigger and speed selector mechanism of the rifle 3 to achieve mechanical execution.

[0040] The modular cradle 4 mainly consists of a cradle body 4.1, a scope mount 4.2, lateral clamping blocks 4.3, a handle screw 4.4, a cylindrical pin 4.5, and a spring 4.6. The cradle body 4.1 and the two lateral clamping blocks 4.3 together form a rail clamping groove structure that matches the Picatinny rail on the firearm, used to clamp and fix different models of firearms with Picatinny interfaces. The rail clamping groove of the cradle body 4.1 is provided with lugs that can be embedded into the firearm's Picatinny rail; there are four lugs in total, front and rear, used to withstand recoil impact loads during firing. The handle screw 4.4 passes through the through hole on the lateral clamping block 4.3 and is screwed into the threaded hole of the cradle body 4.1 to achieve a tight clamping fixation of the lateral clamping block 4.3. One end of the cylindrical pin 4.5 is inserted into the blind hole of the cradle body 4.1, and the other end is inserted into the blind hole of the lateral clamping block 4.3, providing positioning for the lateral clamping block 4.3. A spring 4.6 is provided in the blind hole of the cradle body 4.1. The spring 4.6 ensures that the lateral clamping block always presses against the handle screw 4.4 during tightening, preventing it from wobbling back and forth. There are two lateral clamping blocks 4.3 in total, one at the front and one at the back of the guide rail clamping groove. Each lateral clamping block is equipped with one handle screw 4.4, two cylindrical pins 4.5, and two springs 4.6. The frame mount 4.2 is fixed to the cradle body 4.1 by bolts. The top of the frame mount 4.2 is a Picatinny rail. The viewing module 1 can be installed on the frame mount 4.2 via the rail fixing structure on the frame 1.1.

[0041] The main structure 5 of the weapon station mainly consists of an L-shaped topology-optimized support arm 5.1, two sets of harmonic joint motors 5.2, two sets of crossed roller bearings 5.3, two sets of Teflon washers 5.4, a cradle connecting flange 5.5, a base connecting flange 5.6, a base connecting flange end cover 5.7, a directional motor end cover 5.8, an elevation / lowering motor end cover 5.9, a slip ring 5.10, and a cable interface 5.11. Of the two sets of harmonic joint motors 5.2, one serves as the directional motor and the other as the elevation / lowering motor. The inner ring of the directional motor is bolted to the base connecting flange 5.6, and the outer ring is bolted to the L-shaped topology-optimized support arm 5.1. Similarly, the inner ring of the elevation / lowering motor is bolted to the cradle connecting flange 5.5, and the outer ring is bolted to the L-shaped topology-optimized support arm 5.1. The motor drives its inner ring to rotate relative to the outer ring, thereby causing the base connecting flange 5.6 and the cradle connecting flange 5.5 to rotate relative to the support arm 5.1, forming the weapon station's directional (horizontal rotation) and pitch movements. A crossed roller bearing 5.3 at the directional mechanism is located between the bearing housing at the lower end of the support arm 5.1 and the bearing housing at the base connecting flange 5.6, forming a directional rotation support structure; a corresponding Teflon washer 5.4 is located in the rotational gap between the support arm 5.1 and the base connecting flange 5.6, for sealing and reducing friction. A crossed roller bearing 5.3 at the elevation mechanism is located between the bearing housing at the upper end of the support arm 5.1 and the bearing housing at the cradle connecting flange 5.5, forming a pitch rotation support structure; a corresponding Teflon washer 5.4 is located in the rotational gap between the support arm 5.1 and the cradle connecting flange 5.5, for sealing and reducing friction. The base connecting flange end cap 5.7 is bolted to the base connecting flange 5.6, for sealing the internal structure. The slip ring 5.10 is bolted to the base connecting flange 5.6 and is used to achieve continuous electrical transmission during rotation. The cable interface 5.11 is bolted to the end cover 5.7 of the base connecting flange and is used for external power supply and signal input.

[0042] The modular base 7 includes a vehicle-connecting base 7.1 and / or a tripod-type base 7.2, wherein the vehicle-connecting base 7.1 is used for connection and installation with unmanned vehicles, and the tripod-type base 7.2 is used for ground support installation in single-soldier deployment scenarios.

[0043] The weapon station operates as follows: Two harmonic joint motors 5.2 are used, one for directional rotation and the other for pitch. The modular base 7 remains relatively stationary with respect to the base connecting flange 5.6. The directional motor drives the support arm 5.1 to rotate around the base connecting flange 5.6, thus creating the directional rotation of the weapon station. The modular cradle 4 remains relatively stationary with respect to the cradle connecting flange 5.5. The elevation motor drives the cradle connecting flange 5.5 to rotate relative to the support arm 5.1, thus creating the pitch of the weapon station. The control module 6 acquires visual image information through the electronic eyepiece 1.4 in the observation and aiming module 1, identifies and locates the target, calculates the corresponding target attitude parameters of the weapon station, and outputs control signals to the two sets of harmonic joint motors 5.2 to adjust the directional and pitch attitude. When the firing conditions are met, the control module 6 outputs a control command to the external fire control execution module 2, driving the corresponding high-torque servo motor 2.3 to rotate, which in turn drives the trigger lever 2.4 to press the trigger of the rifle 3, thus realizing the firing action; when it is necessary to switch the firing gear, the control module 6 controls another servo motor 2.3 to drive the fire selector lever 2.5 to rotate, thereby completing the firearm gear switching.

[0044] The multi-objective topology optimization algorithm used in the L-shaped topology optimization support arm 5.1 is as follows: For the attached... Figure 15 The preset design domain model shown is meshed to establish a finite element model of the support arm. The design domain is discretized into n tetrahedral finite element elements, and each element is interconnected through common nodes to form an overall finite element model. Each tetrahedral element consists of four nodes. The relative density of each element is used as the design variable, which is expressed as:

[0045]

[0046] in, This represents the relative density of the i-th finite element, with values ​​ranging from 1 to 2. This is used to characterize the retention degree of the unit material; the superscript T indicates vector transpose. The density variable... The material distribution within the design domain can be determined. After the topology optimization solution is completed, the density field distribution within the design domain is obtained, and the elements are screened according to a preset density threshold. In this embodiment, the density threshold is set to 0.5. Elements with a density greater than this threshold are retained and low-density elements are removed, thereby extracting and forming a continuous load-bearing topology. The obtained topology is then subjected to boundary smoothing and engineering reconstruction, and finally, the solid geometry of the L-shaped topology-optimized support arm 5.1 can be obtained.

[0047] Based on the aforementioned design variables, a material distribution model is established using the variable density method, and a comprehensive objective function incorporating static performance under multiple operating conditions and low-order modal performance is constructed under volume fraction constraints. To achieve a unified measurement among different physical quantities, each sub-objective is normalized, and a multi-objective optimization model is constructed using a trade-off programming method, the expression of which is:

[0048]

[0049] in, The objective function is the multi-objective topology optimization comprehensive objective function; m represents the number of static load cases, which is taken as in this embodiment. ; For the first The structural compliance index under each firing attitude condition is obtained through linear static finite element analysis, and its expression is:

[0050]

[0051] in For the first The set of equivalent load vectors applied to each node of the finite element model of the support arm under each working condition; For the first The set of displacement response vectors of all nodes in the finite element model obtained by linear static finite element calculation under each working condition is represented by the displacement values ​​of each node in the three translational degrees of freedom directions.

[0052] Since flexibility is inversely proportional to structural stiffness, minimizing... This is equivalent to increasing the overall stiffness of the structure. and These represent the first iteration in the optimization process. The minimum and maximum values ​​of the compliance index for each working condition are used to normalize the compliance index.

[0053] The modal performance index, used to characterize the vibration properties of the structure, is constructed based on the low-order natural frequencies of the finite element model of the support arm. Specifically, the first three natural frequencies of the finite element model of the support arm are used as the evaluation basis, and the modal performance index is constructed through a weighted summation:

[0054]

[0055] in, Let r be the natural frequency of the structure. These are the corresponding weighting coefficients. In this example, we take... , , It is used to comprehensively characterize the low-order modal properties of a structure. and These represent the minimum and maximum values ​​of the modal performance index during the optimization iteration process, respectively.

[0056] The weighting coefficient between static performance and modal performance is taken in this embodiment. ; For the first Weighting coefficients for each firing posture condition; As a compromise planning parameter, used to adjust the integration degree of multiple objective functions, this embodiment takes... ; This represents the total volume of the structural material under the current density distribution. For the initial design domain volume; This is the upper limit of the volume fraction, used to limit the proportion of the total volume of the optimized material to the volume of the initial design domain. In this embodiment, it is set to 0.3.

[0057] The multi-condition static target selection uses four typical firing postures as input boundary conditions, including horizontal firing, +25° elevation firing, -25° depression firing, and +50° elevation firing. A recoil load of 2000N is applied along the gun axis in each posture. The weighting coefficients for the different postures are allocated based on actual usage probability, with the horizontal firing posture having a higher weighting. ±25° elevation / depression firing conditions are respectively taken +50° elevation firing condition By unifying the multi-attitude static compliance objective and the low-order natural frequency objective into the same optimization framework, the material distribution within the design domain is iteratively solved under volume fraction constraints, yielding the density field distribution result when the multi-objective topology optimization comprehensive objective function is minimized. After filtering the elements according to a preset density threshold, a topology optimization configuration model is obtained where the material is continuously distributed along the main force path, and thinning and pores are formed in non-critical areas. This enables the L-shaped topology optimization support arm 5.1 to achieve significant weight reduction while maintaining structural stiffness and dynamic stability, avoiding the structural natural frequency from falling into the firing excitation and carrier vibration frequency bands, thereby improving the stability and pointing accuracy of the lightweight intelligent weapon station under multi-condition firing conditions.

Claims

1. A modular, light weight, rifle weapon station characterized by, The application relates to a modular light machine gun weapon station. The weapon station main structure is mainly composed of a support arm, two sets of harmonic joint motors, two sets of cross roller bearings, two sets of gaskets, a cradle connecting flange, a base connecting flange, a base connecting flange end cover, a direction motor end cover, a height and low motor end cover, a slip ring and a cable interface; one of the two sets of harmonic joint motors is used as a direction motor, and the other is used as a height and low motor; the inner ring of the direction motor is connected to the base connecting flange, and the outer ring is connected to the support arm; the inner ring of the height and low motor is connected to the cradle connecting flange, and the outer ring is connected to the support arm; cross roller bearings are arranged between the bearing seat of the lower end of the support arm and the bearing seat of the base connecting flange and between the bearing seat of the upper end of the support arm and the bearing seat of the cradle connecting flange, so as to form a direction rotation supporting structure and an elevation rotation supporting structure; gaskets are arranged at the rotation gaps between the support arm and the base connecting flange and between the support arm and the cradle connecting flange, so as to seal and reduce friction; the base connecting flange end cover is connected to the base connecting flange; the slip ring is fixed to the base connecting flange and is used for realizing continuous electrical transmission in the rotation state; and the cable interface is fixed to the base connecting flange end cover and is used for external power supply and signal input. The sighting module is composed of a mirror frame, a sighting scope, an electronic eyepiece fixing seat and an electronic eyepiece; the upper end of the mirror frame is provided with the sighting scope; the electronic eyepiece is in close contact with the eyepiece end outer cylinder of the sighting scope; the electronic eyepiece is connected to the electronic eyepiece fixing seat; the electronic eyepiece is arranged at the exit pupil position of the sighting scope, and the entrance pupil position and sensor size of the electronic eyepiece are matched with the exit pupil range of the sighting scope. The electronic eyepiece fixing seat is a two-leaf structure, and the two leaves are fastened through bolts. ​ ​ ​ 2. The modular LSW of claim 1, wherein, ​ 3. The modular LSW of claim 1, wherein, ​ 4. The modular LSW of claim 3, wherein, ​ 5. The modular LSW of claim 1, wherein, The external fire control execution module is composed of a clamping plate, a steering engine base, a steering engine, a trigger lever and a quick slow machine lever; the steering engine base is internally provided with a groove for accommodating a handle, and the inner surface of the groove is provided with a protruding structure corresponding to the handle pattern, for enhancing the contact friction and positioning stability; the clamping plate is connected with the steering engine base, and when installed, the handle of the mounted rifle is clamped into the groove of the steering engine base, and the clamping plate is pressed against the steering engine base by tightening the bolt, so as to realize the clamping and fixing of the handle of the mounted rifle; two sets of steering engines are installed on the steering engine base, and the two output ends are respectively connected with the trigger lever and the quick slow machine lever, for driving the trigger and the quick slow machine mechanism of the mounted rifle.

6. The modular LSW of claim 1, wherein, The modular cradle is composed of a cradle main body, a lens holder base, a lateral clamping block, a handle screw, a cylindrical pin and a spring; the cradle main body and the two lateral clamping blocks together form a guide rail clamping groove matched with the Picatinny rail of the firearm, for clamping and fixing different types of firearms with Picatinny interface; the guide rail clamping groove of the cradle main body is provided with lug structures embedded in the Picatinny rail of the firearm, four lugs in front and back, for bearing the recoil impact load during shooting; the handle screw is screwed into the threaded hole of the cradle main body after passing through the through hole of the lateral clamping block, for realizing the compression and fixing of the lateral clamping block; one end of the cylindrical pin is inserted into the blind hole of the cradle main body, and the other end is inserted into the blind hole of the lateral clamping block, providing positioning for the lateral clamping block; the blind hole of the cradle main body is provided with a spring, which makes the lateral clamping block always resist the handle screw during tightening; the lens holder base is fixed on the cradle main body, and the top of the lens holder base is provided with a Picatinny rail, for installing the sighting module.

7. The modular LSW of claim 1, wherein, The base includes a carrier connection type base and / or a tripod type base, wherein the carrier connection type base is used for connection and installation with an unmanned carrier, and the tripod type base is used for ground support installation in a single soldier deployment scene.

8. The modular LSW of claim 2, wherein, The support arm is topologically optimized by the following method: The preset design domain model is meshed to establish a finite element model with a support arm, the design domain is divided into n finite element units, and the relative density of each unit is taken as a design variable; after the topological optimization solution is completed, the density field distribution result in the design domain is obtained, and the units with a density greater than a threshold value are selected and reserved according to a preset density threshold value, so that a continuous load-bearing topological structure is extracted, the boundary of the obtained topological structure is smoothed, and engineering reconstruction is performed, and finally the solid geometric configuration of the support arm can be obtained.

9. The modular LSW of claim 8, wherein, The following further optimization is included: a multi-objective optimization model is constructed by using a compromise programming method: wherein, is a multi-objective topology optimization synthesis objective function; m is the number of shooting attitude working conditions; is the structure flexibility index of the th shooting attitude working condition, and respectively represent the minimum value and the maximum value of the th shooting attitude working condition flexibility index in the optimization iteration process, is a modal performance index for representing the structure vibration characteristics, and respectively represent the minimum value and the maximum value of the modal performance index in the optimization iteration process, is a weight coefficient between the static performance and the modal performance, is a compromise planning parameter, is the total volume of the structure material in the current density distribution state; is the initial design domain volume; is the volume fraction upper limit, used to limit the proportion of the total volume of the material after optimization to the initial design domain volume; The material distribution in the design domain is iteratively solved under the volume fraction constraint condition, and the topological optimization configuration is obtained.

10. The modular LSW of claim 9, wherein, The shooting posture working conditions include a horizontal shooting working condition, a +25° elevation shooting working condition, a -25° depression shooting working condition and a +50° elevation shooting working condition.

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