Lightweight replaceable gun clamp system with buffer at the end of a robot arm

Abstract

The application belongs to the technical field of firearms, and particularly relates to a light-weighted firearm clamp system with a replaceable buffer at the end of a mechanical arm. The system comprises a general buffer component, a submachine gun clamp mechanism and a pistol clamp mechanism. The general buffer component provides one-way buffering and is installed at the end of a wearable mechanical arm. The general buffer component is connected to the submachine gun clamp mechanism or the pistol clamp mechanism through quick-release pins. The submachine gun clamp mechanism and the pistol clamp mechanism are respectively used for clamping and firing a submachine gun or a pistol, and the firing mode is lever firing. When shooting, the clamp mechanism fires the firearm, and the recoil force is transmitted to the general buffer component through the clamp mechanism for buffering. The application has the characteristics of light weight and generalization, and has a compact structure, flexible movement and adaptability to various types of firearms or other sensor end equipment.

Description

Technical Field

[0001] This invention belongs to the field of firearms technology, specifically relating to a lightweight firearm clamp system with a replaceable buffer at the end of a robotic arm. Background Technology

[0002] Existing traditional weaponry relies heavily on the individual capabilities of its users, proving inadequate for complex and ever-changing combat missions such as urban warfare, assault operations, and counter-terrorism. Wearable weapons and unmanned combat platforms can effectively address this issue. These systems organically combine traditional weaponry with intelligent electromechanical systems and users, shortening combat deployment time, better adapting to different combat environments, and pushing the limits of human combat.

[0003] However, weapon systems integrated with wearable weapons or unmanned combat platforms are characterized by short firing times, high firing frequencies, and strong impact forces. Taking various firearms as an example, the strong impact and vibration during firing often lead to instability, affecting shooting accuracy and even damaging the mechanical structure of wearable weapons and unmanned combat platforms, necessitating the design of specialized clamps. Traditional firearm clamps, in pursuit of stability, mostly focus on providing a fixing function, offering poor cushioning against the impact forces generated during firing and limiting the firearm's pointing and maneuverability. Furthermore, most firearm clamps are only designed for one type of firearm, resulting in complex structures, cumbersome installation procedures, and low reliability.

[0004] Patent application CN202410084243.1 discloses a clamp capable of mounting a Type 95 rifle for firing, but its complex structure and heavy weight make it unsuitable for mounting on wearable weapons or lightweight unmanned combat platforms. Patent application CN201821626840.9 discloses a clamp suitable for the Type 92 pistol, enabling it to be mounted and fired from a drone, but this clamp is unsuitable for wearable weapons. Patents CN202411316895.X (hereinafter referred to as the former) and CN202021684076.8 (hereinafter referred to as the latter) disclose clamps suitable for rifles and pistols, respectively, adaptable to robotic arm ends and small unmanned combat platforms. However, both use electromagnetic firing, resulting in low reliability; the former has a complex structure, and the latter's connection method with wearable weapons limits the pointing capability of the mounted firearm. All of the above inventions only address one type of firearm, and the installation and replacement procedures are cumbersome. Summary of the Invention

[0005] The purpose of this invention is to provide a firearm clamping system that enables wearable weapons or unmanned combat platforms equipped with this clamping system to directly use existing firearms while reducing the impact of weapon firing on the wearable weapons or unmanned combat platforms. It ensures that the weapon can rotate circumferentially and allows for quick installation, disassembly, or replacement of different types of firearms or the mounting of sensors such as cameras as needed, with only simple steps.

[0006] The technical solution to achieve the purpose of this invention is: a lightweight firearm clamping system with replaceable buffer at the end of a robotic arm, including a universal buffer component, a submachine gun clamping mechanism, and a pistol clamping mechanism.

[0007] The universal buffer component provides unidirectional cushioning and is installed at the end of a wearable robotic arm. The universal buffer component is connected to a submachine gun clamping mechanism or a pistol clamping mechanism via a quick-release pin. The submachine gun clamping mechanism and the pistol clamping mechanism are used for clamping and firing the submachine gun or pistol, respectively. The firing method is lever firing. When firing, the clamping mechanism fires the firearm, and the resulting recoil is transmitted to the universal buffer component for cushioning through the clamping mechanism.

[0008] Furthermore, the general-purpose buffer components include flange plates, buffer support frames, guide rod adapters, slide blocks, pin blocks, sleeve sliders, a pair of buffer spring cylinders, a pair of buffer springs, buffer end cap frames, a pair of spring guide rods, and quick-release pins.

[0009] The flange plate is connected to the end of the robotic arm. The flange plate is connected to the buffer support frame and the buffer end cover frame at both ends respectively. The buffer end cover frame is connected to one end of the two buffer spring cylinders. Two buffer springs are respectively fitted on the outside of the two spring guide rods. The two buffer springs are placed inside the two buffer spring cylinders and abut against the side wall of the other end of the buffer spring cylinders. After passing through the side wall of the other end of the buffer spring cylinders and the side wall of the buffer support frame, the two spring guide rods are connected to the guide rod adapter. The two buffer spring cylinders abut against the inner side wall of the buffer support frame. The two ends of the sliding block are respectively connected to the guide rod adapter and the sleeve slider. The sleeve slider is slidably fitted on the outside of the buffer spring cylinder. The sliding block has four rectangular holes for the submachine gun clamp mechanism or the pistol clamp mechanism to pass through. The pin block and the quick release pin are placed on the sliding block. The clamp conversion part of the submachine gun clamp mechanism or the pistol clamp mechanism passes through the rectangular holes and is connected to the pin block through the quick release pin.

[0010] Furthermore, the main structure of the flange plate is rectangular. Two smaller rectangular plates extend from the two wide sides of the rectangular plate along its thickness direction, with the wide side of the current rectangular plate as its long side. Six rectangularly distributed through holes are formed on all the smaller rectangular plates, serving as interfaces for connection to the buffer support frame and the buffer end cap frame. Several sets of through holes are equidistantly formed with the center of the main rectangular plate structure as the flange end for connection to the motor of the robotic arm. A circular through hole is formed with the center of the main rectangular plate structure as the center, and a total of four through holes are formed in the area between the flange end and the smaller rectangular plates as weight-reduction holes. The entire flange plate is mirror-symmetrical about the surface coinciding with the center and normal of the main rectangular plate structure.

[0011] Furthermore, the structure of the buffer support frame consists of a recessed platform in the middle of a rectangular plate, and six through holes distributed at equal intervals around the rectangular plate as the transition end with the flange plate. At the two corners of the long side, a strip plate extends outward at equal intervals with the long side at a 45° angle. After the ends of the two strip plates are set with circular plates of the same radius, through holes are opened in the center of all the circular plates, and tubular structures of the same length extend in the same direction as the axis of the circular plates. Reinforcing ribs are provided at the junction of the tubular structure and the strip plates.

[0012] The buffer end cover is mounted on a rectangular plate with a recessed platform in the middle section. Six through holes are distributed at equal intervals around the rectangular plate as the transition end with the flange plate. At the two corners of the long side, a strip plate extends outward at equal intervals with the long side at a 45° angle. At the ends of the two strip plates, a circular plate with the same radius and a thickness smaller than the strip plate is set. Six through holes are evenly distributed around the circular plate as the flange connection end with a pair of buffer spring cylinders.

[0013] Furthermore, the main body of the buffer spring cylinder is in the shape of a circular tube. The outer diameter of the circular tube is in transitional fit with the inner diameter of the tubular structure extending from the buffer support frame. One end of the circular tube is sealed, and a through hole with a diameter smaller than that of the circular tube is opened at the sealed end with the center as the center. The other end extends outward to form a frustum with a diameter larger than that of the circular tube, and six through holes are evenly distributed along the edge of the frustum as a flange end. The distribution of the through holes is the same as that of the through holes distributed at the flange connection end of the buffer end cover frame.

[0014] Furthermore, the slide block is rectangular in shape, with the central section bending upwards along the thickness of the rectangular plate to form a trapezoidal platform. Four rectangular holes are evenly distributed around the center of the rectangular plate at the trapezoidal platform, serving as interfaces for mates with submachine gun or pistol clamp conversion parts. The two wide sides of the rectangular plate extend in a Y-shape from the center of its thickness, then extend outwards along the long side of the rectangular plate to form two parallel small rectangular plates. Through holes are provided on these small rectangular plates as connection points for moving parts. The entire slide block is mirror-symmetrical about the surface where the center and normal of the main rectangular plate structure coincide with the wide side of the main rectangular plate structure.

[0015] Furthermore, the main body of the spring guide rod is a cylindrical rod-shaped part with a diameter smaller than the diameter of the through hole at the sealing end of the buffer spring cylinder. One end extends out as a frustum with a diameter that is clearance-fitted with the inner diameter of the pair of buffer spring cylinders as the spring compression end, and a rectangular notch is provided on the frustum to ensure air release. The other end has two planes with normals perpendicular to the rod axis and symmetrically distributed at the end of the rod-shaped main body, and through holes are provided on the planes as the interface with the guide rod adapter.

[0016] Both the guide rod adapter and the sleeve slider body are rectangular strips. On the body, a through hole with the center of the rectangular strip as the origin is provided, which has the same trend as the transition end of the slider plate moving parts. The wide sides of the guide rod adapter extend outward into a concave structure with a plane that is parallel to the high side and passes through the midpoint of the high side as the center of symmetry and is provided with a through hole. The internal distance and the distribution of the through holes and the plane at the interface of a pair of spring guide rods form a matching trend with the through holes.

[0017] The wide sides of the sleeve slider extend outward from the plane with the normal line passing through the midpoint of the high side and parallel to the high side as the center of symmetry, forming a circular tubular structure that is in clearance fit with the outer diameter of a pair of buffer spring cylinders; the length of the compression spring is longer than that of a pair of buffer spring cylinders, the inner diameter is larger than the outer diameter of the rod-shaped body of the spring guide rod part, and the outer diameter is smaller than the inner diameter of the tubular body of a pair of buffer spring cylinders.

[0018] Furthermore, the submachine gun clamp mechanism includes a submachine gun clamp fixing component and a submachine gun firing component. The submachine gun clamp fixing component includes a submachine gun clamp conversion component, a submachine gun clamp main adapter component, a movable Picatinny rail, and a fixed Picatinny rail.

[0019] The shape of the submachine gun clamp conversion part is that rectangular pieces extend downward at equal distances from the two long sides of a rectangular plate, and through holes are provided on the side as interfaces for conversion with the main adapter of the submachine gun clamp. At the same time, four second-order rectangular posts extend evenly in opposite directions. The larger rectangular posts are used for positioning and height extension, and the smaller rectangular posts are provided with through holes on the side as interfaces for cooperation with pin blocks and quick-release pins.

[0020] The submachine gun firing mechanism includes a servo adapter, a submachine gun firing servo, a submachine gun servo mount, a submachine gun servo disc, a submachine gun servo arm, and a submachine gun firing lever.

[0021] The main body of the servo adapter is an L-shaped plate with two arms of different widths. The wide arm of the L-shaped plate has a spatial angle to adapt to the shape of the submachine gun it is mounted on. The end of the wide arm extends to a rectangular platform with a through hole as an interface for connecting with the main adapter of the submachine gun clamp. The end of the narrow arm has a through hole as an interface for connecting with the submachine gun servo frame. The main body of the submachine gun servo frame is a rectangular plate with a series of through holes centered on the origin, matching the shape of the submachine gun firing servo body and the bolt connection holes. A small rectangular plate extends outward from one of the right angles of the rectangular plate, with a through hole and a small square platform on it. A secondary small cylindrical platform with a through hole is set on the small square platform, which serves as the connection interface with the servo adapter, the positioning platform for the submachine gun firing lever, and the movable riveting interface, respectively.

[0022] The main adapter of the submachine gun clamp is connected to the submachine gun clamp conversion part by bolts. The fixed Picatinny rail is connected to the main adapter of the submachine gun clamp by bolts. The movable Picatinny rail, which is used in conjunction with the clamping bolts, forms a clamp that can be clamped onto the submachine gun using a Picatinny rail. The submachine gun firing servo is connected to the submachine gun servo frame by bolts. The output shaft of the submachine gun firing servo is connected to the submachine gun servo arm through the submachine gun servo disc, which drives the submachine gun firing lever, which is riveted to the submachine gun servo frame, to move and complete the firing of the mounted firearm.

[0023] Furthermore, the pistol clamping mechanism includes a pistol fixing component and a pistol firing component;

[0024] The pistol fasteners include a pistol clip conversion assembly, a pistol clip main adapter, a grip clip rear link, a grip clip body, a grip clip cover, and a grip clip front link.

[0025] The shape of the pistol clip conversion part is that rectangular pieces extend downward at equal distances from the two long sides of a rectangular plate, and through holes are provided on the side of the plate as interfaces for conversion with the main adapter of the submachine gun clip. At the same time, four rectangular pillars extend evenly in opposite directions, and through holes are provided on the side of the rectangular pillars as interfaces for engagement with pins and quick-release pins.

[0026] The grip clamp body is a right-angled trapezoidal block. A curved groove conforming to the shape of a pistol grip is machined on the trapezoidal surface of the right-angled trapezoidal block. The acute angle is cut off to form a right angle inward. The newly formed acute angle, the original obtuse angle, and the two right angles on the part are provided with long cylinders with through holes as interfaces for connecting with the grip clamp cover. A rectangular plate extends outward from the right-angled side and the newly formed hypotenuse of the trapezoidal block, and a rectangular plate with through holes extends vertically from the end of the rectangular plate, which serves as interfaces for connecting with the rear link and the front link of the grip clamp, respectively. A small rectangular plate extends outward from the right angle near the long side of the trapezoidal block and is provided with through holes as an interface for connecting with the pistol servo frame. A rectangular plate extends forward from the right angle formed by the cut-off part. The end of the rectangular plate is provided with a circular plate structure with the same diameter as the width of the rectangular plate, and a through hole is provided at the center of the circular plate structure as a movable riveting interface for connecting with the pistol firing lever.

[0027] The pistol firing mechanism includes a pistol firing servo, a pistol servo mount, a pistol servo disc, a pistol servo arm, and a pistol firing lever.

[0028] The pistol clip main adapter is connected to the pistol clip conversion component. The corresponding ends of the grip clip rear link and grip clip front link are respectively connected to the front and rear ends of the pistol clip main adapter and the corresponding adapter ends of the grip clip body, forming a basket-like structure with the pistol clip main adapter as the base, the grip clip rear link and grip clip front link as cantilevered links, and the grip clip body as the load-bearing structure. The grip clip cover is fixed to the corresponding area of ​​the grip clip body with bolts to fix the mounted pistol. The pistol servo frame is connected to the servo adapter extending from the grip clip body with bolts. The pistol firing servo is connected to the pistol servo frame. The output shaft of the pistol firing servo is connected to the pistol servo arm through the pistol servo disc, driving the pistol firing lever, which is riveted to the corresponding position of the grip clip body, to fire the mounted firearm.

[0029] The aforementioned lightweight firearm clamping system features a universal buffer component mounted on an unmanned combat platform.

[0030] The firearm clamping system of this invention can mount firearms and integrate them into wearable weapons, robotic arms, or unmanned combat platforms, achieving fixation of the firearms, autonomous firing, and recoil buffering. Specifically, compared with the prior art, the significant advantages of this invention are:

[0031] (1) The overall structure of the present invention is lightweight, which can reduce the burden on the unmanned combat platform equipped with the firearm clamp system. Compared with most other firearm clamps, the present invention has a connection interface adapted to the joint motor, which can achieve rapid circumferential rotation without affecting the use of the firearm.

[0032] (2) The present invention has the functions of independently firing firearms and buffering the recoil of firearms. It has a reliable structure, and the overall mechanical structure is simple, with a small number of parts and simple part structure, making it easy to process and assemble.

[0033] (3) The firearm clamping system proposed in this invention can directly use existing firearms without making any changes to the firearms; and through structural design, this invention enables the rapid replacement of the type of end-firearm and its associated clamping system or end-effectors such as cameras and other sensor systems that are compatible with its interface without replacing the buffer components; its quick installation, convenient replacement and strong versatility make it more friendly to the daily maintenance and emergency repair of equipment, and theoretically more adaptable to complex and ever-changing battlefield tasks. Attached Figure Description

[0034] Figure 1 This is a general schematic diagram of the gun clamp system of the present invention.

[0035] Figure 2 This is a schematic diagram of the universal buffer component of the present invention when installing the submachine gun clamp mechanism.

[0036] Figure 3 This is a schematic diagram of the universal buffer component of the present invention when mounting a pistol clamp mechanism.

[0037] Figure 4 This is a schematic diagram of the structure of the universal buffer component of the present invention.

[0038] Figure 5 This is an exploded view of the universal buffer component of the present invention.

[0039] Figure 6 This is a schematic diagram of the submachine gun clamping mechanism of the present invention.

[0040] Figure 7 This is an exploded view of the submachine gun clamping mechanism of the present invention.

[0041] Figure 8 This is a schematic diagram of the pistol clamp mechanism of the present invention.

[0042] Figure 9 This is an exploded view of the pistol clamping mechanism of the present invention.

[0043] Figure 10 This is a schematic diagram of a flange plate for a general-purpose buffer component.

[0044] Figure 11 This is a schematic diagram of a slider plate for a general-purpose buffer component.

[0045] Figure 12 This is a schematic diagram of a buffer support frame for a general-purpose buffer component.

[0046] Figure 13This is a schematic diagram of the buffer end cap frame of a general-purpose buffer component.

[0047] Figure 14 This is a schematic diagram of a submachine gun clamp conversion component in a submachine gun clamping mechanism.

[0048] Figure 15 This is a schematic diagram of the servo adapter of the submachine gun clamp mechanism.

[0049] Figure 16 This is a schematic diagram of the submachine gun servo mount of the submachine gun clamping mechanism.

[0050] Figure 17 This is a schematic diagram of a pistol clamp conversion mechanism.

[0051] Figure 18 This is a schematic diagram of the grip clamp body of a pistol clamping mechanism.

[0052] Figure 19 This is a schematic diagram showing the connection between the slider plate and the submachine gun clamp conversion part.

[0053] Figure 20 This is a schematic diagram showing the connection between the slider plate and the pistol clamp conversion component.

[0054] Figure 21 This is a schematic diagram of a submachine gun mounted on a gun clamp system.

[0055] Figure 22 This is a schematic diagram of a pistol mounted on a firearm clamping system.

[0056] Figure 23 This is a schematic diagram of a gun clamping system that assembles a submachine gun and mounts it on a wearable robotic arm.

[0057] Explanation of reference numerals in the attached figures:

[0058] 1-General-purpose buffer component, 2-Submachine gun clamp mechanism, 3-Pistol clamp mechanism, 101-Flange plate, 102-Buffer support frame, 103-Guide rod adapter, 104-Slide block, 105-Pin block, 106-Sleeve slider, 107-Buffer spring sleeve, 108-Buffer spring, 109-Buffer end cap frame, 110-Spring guide rod, 111-Quick release pin, 201-Submachine gun clamp conversion component, 202-Submachine gun clamp main adapter, 203-Modible rail, 204-Fixed rail, 205-Servo adapter 206-Submachine gun firing servo, 207-Submachine gun servo mount, 208-Submachine gun servo disc, 209-Submachine gun servo arm, 210-Submachine gun firing lever, 301-Pistol clamp adapter, 302-Pistol clamp main adapter, 303-Grip clamp rear linkage, 304-Grip clamp body, 305-Pistol firing servo, 306-Pistol servo mount, 307-Pistol servo disc, 308-Pistol servo arm, 309-Pistol firing lever, 310-Grip clamp cover, 311-Grip clamp front linkage. Detailed Implementation

[0059] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and specific examples. The following embodiments or drawings are used to illustrate the present invention, but are not intended to limit the scope of the invention.

[0060] Combination Figures 1 to 23 This invention provides a lightweight firearm clamping system (hereinafter referred to as the firearm clamping system) with a buffer and quick-change function, adaptable to the end effector of a robotic arm. It can be adapted to wearable robotic arms or various unmanned combat platforms. The firearm clamping system can be divided into a general-purpose buffer component 1 and submachine gun clamping mechanisms 2 and pistol clamping mechanisms 3, which can be connected to it respectively.

[0061] In practical implementation, wearable robotic arms refer to a series of wearable robotic arm devices, represented by extremity robots, which can enhance human capabilities; unmanned combat platforms refer to devices such as drones, robot dogs, and unmanned weapon stations that do not require direct human intervention and can work autonomously or require manual operation. These devices can replace humans in completing various dangerous tasks.

[0062] Combination Figures 4 to 5 and Figures 10 to 13 The general-purpose buffer component 1 can be divided into fixed components, moving components, and transition components according to its function. The fixed component is responsible for connecting the entire clamping system to the robotic arm or unmanned combat platform on which it is mounted and for providing support for the transition components and moving components; the moving component is responsible for providing the interface for the submachine gun clamping mechanism 2 or the pistol clamping mechanism 3; the transition component is responsible for buffering the force and movement of the moving component on the fixed component.

[0063] In specific implementation, the fasteners include flange plate 101, buffer support frame 102, buffer spring cylinder 107, and buffer end cover frame 109.

[0064] Combination Figure 10 The main structure of flange plate 101 is rectangular. Two smaller rectangular plates extend from the two wide sides of the rectangular plate along the thickness direction of the rectangular plate, with the wide side of the current rectangular plate as the long side. Six rectangular through holes are opened on all the smaller rectangular plates, which serve as interfaces for connecting with buffer support frame 102 and buffer end cover frame 109, respectively. Several sets of through holes are equally spaced with the center of the main rectangular plate structure of flange plate 101 as the flange end for connecting with the motor of the robotic arm or unmanned combat platform. A circular through hole is opened with the center of the main rectangular plate structure of flange plate 101 as the center, and a total of four through holes are opened in the area between the flange end and the smaller rectangular plates as weight reduction holes. The entire flange plate 101 part is mirror symmetrical about the surface through the center of the main rectangular plate structure of flange plate 101, where the normal line coincides with the wide side direction of the main rectangular plate structure.

[0065] Combination Figures 12 to 13 The buffer support frame 102 has a recessed platform in the middle of a rectangular plate, and six through holes are distributed at equal intervals around the rectangular plate as the transition ends with the flange plate 101. At two corners of the long side, strip plates extend outwards at equal intervals at a 45° angle to the long side. At the ends of the two strip plates, circular plates of the same radius are placed. Through holes are opened in the centers of all the circular plates, and tubular structures of the same length extend from them in the same direction as the axis of the circular plates. Reinforcement is provided at the junction of the tubular structures and the strip plates. The ribs are reinforced; similar to the buffer support frame 102, the buffer end cover frame 109 also has a recessed platform in the middle section of a rectangular plate, and six through holes are distributed at equal intervals around the rectangular plate as the transition end with the flange plate 101. At the two corners of the long side, a strip plate extends outward at equal intervals with the long side at a 45° angle. At the ends of the two strip plates, there are circular plates with the same radius and a thickness smaller than the strip plates. Six through holes are evenly distributed around the circular plates as the flange connection end with a pair of buffer spring cylinders 107.

[0066] Combination Figures 4 to 5 A pair of buffer spring cylinders 107 includes two congruent buffer spring cylinder parts. The main body of the buffer spring cylinder part is in the shape of a round tube. The outer diameter of the round tube is in transition fit with the inner diameter of the tubular structure extending from the buffer support frame 102. One end of the round tube is sealed and a through hole with a diameter smaller than the round tube is opened at the sealed end with the center as the center. The other end extends outward to form a frustum with a diameter larger than the diameter of the round tube and six through holes are evenly distributed along the edge of the frustum as a flange end. The distribution of these through holes is the same as that of the through holes distributed at the flange connection end of the buffer end cover frame 109.

[0067] In a specific implementation, the moving part includes a guide rod adapter 103, a sliding block 104, a pin block 105, a sleeve slider 106, a pair of spring guide rods 110 and a quick-release pin 111; the transition part includes a pair of buffer springs 108.

[0068] Combination Figure 11 The slide block 104 is rectangular in shape, with its central section bending upwards along the thickness of the rectangular plate to form a trapezoidal platform. Four rectangular holes are evenly distributed around the center of the rectangular plate at the trapezoidal platform, serving as interfaces for mating with the submachine gun clamp conversion part 201 or the pistol clamp conversion part 301. The two sides of the rectangular plate extend in a Y-shape from the center of the thickness of the rectangular plate as the origin, and then extend outwards along the long side of the rectangular plate to form two parallel small rectangular plates. Through holes are provided on the small rectangular plates as transition ends for moving parts. The slide block 104 is mirror symmetrical about the surface through which the center and normal of the main rectangular plate structure of the slide block 104 coincide with the width of the main rectangular plate structure.

[0069] Combination Figures 4 to 5 A pair of buffer springs 108 and a pair of spring guide rods 110 each include two identical compression spring parts and two identical spring guide rod parts. The main body of the spring guide rod part is a cylindrical rod-shaped part with a diameter slightly smaller than the diameter of the through hole at the sealing end of the pair of buffer spring cylinders 107. One end extends into a frustum with a diameter that is clearance-fitted with the inner diameter of the pair of buffer spring cylinders 107 as the spring compression end, and a rectangular notch is provided on the frustum to ensure air release. The other end has two planes ground at the end of the rod-shaped main body, with the normal line perpendicular to the rod axis and symmetrically distributed, and through holes are provided on the planes as interfaces with the guide rod adapter 103. The guide rod adapter 103 and the sleeve slider 106 are both rectangular strips, and on their main bodies, with the center of the rectangular strip as the origin, a... Similar to the through hole at the transition end of the moving parts of the slider plate 104, the wide sides of the guide rod transition piece 103 extend outward in a U-shaped structure with through holes as the center of symmetry, with the plane parallel to the high side through the midpoint of the high side as the normal. The internal distance and distribution of the through holes and the plane at the interface of the pair of spring guide rods 110 form a matching trend with the through holes. The wide sides of the sleeve slider 106 extend outward in a cylindrical structure with clearance matching with the outer diameter of the pair of buffer spring cylinders 107, with the plane parallel to the high side through the midpoint of the high side as the center of symmetry. The length of the compression spring part is slightly longer than that of the pair of buffer spring cylinders 107, and its inner diameter is slightly larger than the outer diameter of the rod-shaped body of the spring guide rod part, and its outer diameter is slightly smaller than the inner diameter of the tubular body of the pair of buffer spring cylinders 107.

[0070] In specific implementation, combined with Figures 4 to 5The assembly logic for the components of the general-purpose buffer structure is as follows: the interface of flange plate 101 is connected to the transition ends of buffer support frame 102 and buffer end cover frame 109 by bolts; the flange ends of a pair of buffer spring cylinders 107 are connected to the flange connection ends of buffer end cover frame 109 by bolts, and the other ends with through holes are respectively embedded into the tubular structure of buffer support frame 102 for fixation; a pair of buffer springs 108 are sleeved on the rod-shaped bodies of a pair of spring guide rods 110, and the whole structure is connected by a pair of springs. The adapter end of the spring guide rod 110 is inserted inward and compresses a pair of buffer springs 108 until the adapter end of the pair of spring guide rods 110 extends out from the through hole at the other end of the pair of buffer spring cylinders 107; the adapter end of the pair of spring guide rods 110 is connected to the guide rod adapter 103 by bolts; the cylindrical structure of the sleeve slider 106 is respectively sleeved on the pair of buffer spring cylinders 107 and can slide freely; the two adapter ends of the slider plate 104 are respectively connected to the guide rod adapter 103 and the sleeve slider 106 by bolts.

[0071] In practical implementation, the submachine gun clamp mechanism 2 can be divided into a submachine gun clamp fixing part and a submachine gun firing part according to its function;

[0072] Combination Figures 6 to 7 and Figure 14 The submachine gun clamp fixing component includes a submachine gun clamp conversion component 201, a submachine gun clamp main adapter component 202, a movable Picatinny rail 203, and a fixed Picatinny rail 204.

[0073] In specific implementation, the shape of the submachine gun clamp conversion part 201 is that rectangular pieces extend downward at equal distances from the two long sides of a rectangular plate, and through holes are provided on its side as interfaces for conversion with the main adapter part 202 of the submachine gun clamp. At the same time, four second-order rectangular posts extend evenly in opposite directions. The larger rectangular posts are used for positioning and height extension, and the smaller rectangular posts are provided with through holes on their sides as interfaces for cooperation with the pin block 105 and quick-release pin 111.

[0074] Combination Figures 6 to 7 and Figures 15 to 16 The submachine gun firing mechanism includes a servo adapter 205, a submachine gun firing servo 206, a submachine gun servo mount 207, a submachine gun servo disc 208, a submachine gun servo arm 209, and a submachine gun firing lever 210.

[0075] The main body of the servo adapter 205 is an L-shaped plate with two arms of different widths. The wide arm of the L-shaped plate has a certain spatial angle to adapt to the shape of the submachine gun it is mounted on. A rectangular platform with a through hole extends from its end as an interface for connecting with the main adapter 202 of the submachine gun clamp. The narrow arm has a through hole at its end as an interface for connecting with the submachine gun servo frame 207. The main body of the submachine gun servo frame 207 is a rectangular plate with a series of through holes that match the shape of the main body of the submachine gun firing servo 206 and the bolt connection holes, with the center as the origin. A small rectangular plate extends outward from one of the right angles of the rectangular plate, and a through hole and a small square platform are provided on it. A secondary small cylindrical platform with a through hole is provided on the small square platform, which serves as the connection interface with the servo adapter 205, the positioning platform of the submachine gun firing lever 210, and the movable riveting interface, respectively.

[0076] In specific implementation, combined with Figures 6 to 7 The assembly and connection logic of each part of the submachine gun clamp mechanism 2 is as follows: the main adapter 202 of the submachine gun clamp is connected to the submachine gun clamp conversion part 201 by bolts; the fixed Picatinny rail 204 is connected to the main adapter 202 of the submachine gun clamp by bolts; the movable Picatinny rail 203, which works with the clamping bolts, forms a clamp that can be clamped onto the submachine gun; the submachine gun firing servo 206 is connected to the submachine gun servo frame 207 by bolts; the output shaft of the submachine gun firing servo 206 is connected to the submachine gun servo arm 209 through the submachine gun servo disc 208, which drives the submachine gun firing lever 210, which is riveted to the submachine gun servo frame 207, to move and complete the firing of the mounted firearm.

[0077] In practical implementation, the pistol clamp mechanism 3 can be divided into a pistol fixing part and a pistol firing part according to its function.

[0078] Combination Figures 8 to 9 and Figures 17 to 18 The pistol fixing components include a pistol clamp conversion component 301, a pistol clamp main adapter component 302, a grip clamp rear link 303, a grip clamp body 304, a grip clamp cover 310, and a grip clamp front link 311.

[0079] In specific implementation, the shape of the pistol clamp conversion part 301 is that rectangular pieces extend downward at equal distances from the two long sides of a rectangular plate, and through holes are provided on its side as interfaces for conversion with the submachine gun clamp main adapter 202. At the same time, four rectangular pillars extend evenly in the opposite direction, and through holes are provided on the side of the rectangular pillars as interfaces for cooperation with the pin block 105 and quick release pin 111.

[0080] The grip clamp body 304 is a right-angled trapezoidal block. Curved grooves conforming to the shape of a pistol grip are machined into the trapezoidal surface of the block, and the acute angle is partially cut inward to form a right angle. Long cylinders with through holes are provided at the newly formed acute angle, the original obtuse angle, and the two right angles on the part as interfaces for connection with the grip clamp cover 310. A rectangular plate extends outward from the right-angled side and the newly formed hypotenuse of the trapezoidal block, and a through hole extends vertically from the end of the rectangular plate. The rectangular plate serves as the interface connecting the rear link 303 and the front link 311 of the grip clamp, respectively. A small rectangular plate extends outward from the right angle near the long side of the trapezoidal block and has a through hole as the interface for the transition with the pistol servo frame 306. A rectangular plate extends forward from the right angle formed by the cut-off part. The end of the rectangular plate has a circular plate structure with the same diameter as the width of the rectangular plate, and a through hole is provided at the center of the circular plate structure as the movable riveting interface with the pistol firing lever 309.

[0081] Combination Figures 8 to 9 The pistol firing mechanism includes a pistol firing servo 305, a pistol servo mount 306, a pistol servo disc 307, a pistol servo arm 308, and a pistol firing lever 309.

[0082] In specific implementation, combined with Figures 8 to 9 The assembly and connection logic of the pistol clamp mechanism 3 is as follows: the pistol clamp main adapter 302 serves as the basis for connecting the remaining parts and is connected to the pistol clamp conversion component 301. The corresponding ends of the grip clamp rear connecting rod 303 and grip clamp front connecting rod 311 are respectively connected to the front and rear ends of the pistol clamp main adapter 302 and the corresponding adapter ends of the grip clamp body 304, forming a basket-type structure with the pistol clamp main adapter 302 as the base, the grip clamp rear connecting rod 303 and grip clamp front connecting rod 311 as cantilevered structures, and the grip clamp body 304 as the load-bearing structure. The grip clip cover 310 is bolted to the corresponding area of ​​the grip clip body 304 to secure the mounted pistol. The pistol servo mount 306 is bolted to the servo adapter extending from the grip clip body 304. The pistol firing servo 305 is connected to the pistol servo mount 306. The output shaft of the pistol firing servo 305 is connected to the pistol servo arm 308 through the pistol servo disc 307, which drives the pistol firing lever 309, which is riveted to the corresponding position of the grip clip body 304, to move and fire the mounted firearm.

[0083] Combination Figures 2 to 3 , Figures 19 to 22 The general-purpose buffer component 1 can be connected to the submachine gun clamping mechanism 2 and the pistol clamping mechanism 3 respectively, and can only be connected to one type of clamping mechanism at a time.

[0084] In practical implementation, when the universal buffer component 1 is connected to the submachine gun clamping mechanism 2, the Picatinny rail of the clamped submachine gun is matched with the one on the submachine gun clamping mechanism 2, the position of the gun is adjusted so that its trigger is adapted to the position of the submachine gun firing lever 210, and the screws on the movable Picatinny rail 203 are tightened to fix the clamped gun. The rectangular post reserved on the submachine gun clamp conversion component 201 matches the rectangular through hole on the sliding block 104, and is fixed with the pin block 105 and a pair of quick-release pins 111. When the universal buffer component 1 is connected to the pistol clamping mechanism 3, the mounted pistol is embedded in the curved groove of the grip clamp body 304 that conforms to the shape of the pistol grip, and is clamped and fixed with the grip clamp cover 310. The rectangular post reserved on the pistol clamp conversion component 301 matches the rectangular through hole on the sliding block 104, and is fixed with the pin block 105 and a pair of quick-release pins 111.

[0085] Combination Figure 2 , Figure 21 and Figure 23 Taking the example of a general-purpose buffer component 1 paired with a submachine gun clamping mechanism 2 to clamp a certain type of submachine gun, and the entire system mounted on the end of a wearable robotic arm, the working principle of this clamping system is explained: The entire gun clamping system is connected to the end of the wearable robotic arm via a flange plate 101. This connection structure ensures that the gun clamping system can rotate circumferentially under the drive of the end motor, guaranteeing its directional flexibility. When firing is required, the operator issues a command to the wearable robotic arm, instructing it to move to the appropriate position and then issuing a firing command. At this time, the control system integrated on the wearable robotic arm issues a control command to control the submachine gun clamping mechanism 2 mounted on it. The submachine gun firing servo 206 rotates at a certain angle, ultimately driving the submachine gun firing lever 210 to fire the mounted firearm. The recoil generated during the firing process is transmitted to the slide block 104 of the general buffer component 1 through the submachine gun clamp conversion component 201 in the submachine gun clamp mechanism 2 which is fixed to the firearm. This causes the slide block 104 to recoil, and the slide block 104 drives the sleeve slider 106 to move on a pair of buffer spring cylinders 107 to ensure positioning. At the same time, it causes the guide rod adapter 103 and the pair of spring guide rods 110 connected to it to recoil and compress the pair of buffer springs 108 inside the pair of spring guide rods 110, thus completing the buffering of the recoil.

[0086] In practical implementation, in addition to the corresponding firearms, the general-purpose buffer component 1 can also be connected to other types of end effectors such as infrared cameras and power tools that are adapted to the slider plate 104 adapter interface.

[0087] Compared to other similar inventions, the firearm clamping system proposed in this invention is more suitable for mounting on wearable robotic arms or various unmanned combat platforms. When facing various combat missions, this firearm clamping system can rotate rapidly in all directions without affecting the use of the mounted firearm, ensuring the system's flexibility. This invention features autonomous firing of the firearm and recoil buffering, reducing the impact of weapon recoil on the platform carrying the clamping system. It has a reliable structure, a simple overall mechanical structure, a small number of parts, and simple part structures, making it easy to manufacture and assemble. More importantly, the firearm clamping system proposed in this invention can directly use existing firearms without modification. Furthermore, through structural design, this invention allows for rapid replacement of the type of end-effector and its associated clamping system or end-effectors such as cameras and other sensors without changing the buffer components. Its quick installation, convenient replacement, and high versatility make it more user-friendly for routine equipment maintenance and emergency battlefield repairs, and theoretically, more adaptable to complex and ever-changing battlefield missions.

[0088] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A lightweight firearm clamp system with replaceable buffer at the end of a robotic arm, characterized in that: It includes a general-purpose buffer component (1), a submachine gun clamp mechanism (2), and a pistol clamp mechanism (3). The universal buffer component (1) provides unidirectional buffering and is installed at the end of the wearable robotic arm. The universal buffer component (1) is connected to the submachine gun clamp mechanism (2) or the pistol clamp mechanism (3) via quick-release pins. The submachine gun clamp mechanism (2) and the pistol clamp mechanism (3) are used for clamping and firing the submachine gun or the pistol, respectively. The firing method is lever firing. When firing, the clamp mechanism fires the firearm, and the resulting recoil is transmitted to the universal buffer component (1) for buffering through the clamp mechanism.

2. The lightweight firearm clamp system according to claim 1, characterized in that, The general-purpose buffer component (1) includes a flange plate (101), a buffer support frame (102), a guide rod adapter (103), a sliding block (104), a pin block (105), a sleeve slider (106), a pair of buffer spring cylinders (107), a pair of buffer springs (108), a buffer end cover frame (109), a pair of spring guide rods (110), and a quick-release pin (111). The flange plate (101) is connected to the end of the robotic arm. The flange plate (101) is connected to the buffer support frame (102) and the buffer end cover frame (109) at both ends respectively. The buffer end cover frame (109) is connected to one end of two buffer spring cylinders (107). Two buffer springs (108) are respectively fitted on the outside of the two spring guide rods (110). The two buffer springs (108) are respectively placed inside the two buffer spring cylinders (107) and abut against the side wall of the other end of the buffer spring cylinders (107). After the two spring guide rods (110) pass through the side wall of the other end of the buffer spring cylinders (107) and the side wall of the buffer support frame (102), they are connected to the guide rod adapter (103). Next, two buffer spring cylinders (107) abut against the inner wall of the buffer support frame (102). The two ends of the sliding block (104) are respectively connected to the guide rod adapter (103) and the sleeve slider (106). The sleeve slider (106) is slidably sleeved on the outside of the buffer spring cylinder (107). The sliding block (104) is provided with four rectangular holes for the submachine gun clamp mechanism (2) or the pistol clamp mechanism (3) to pass through. The pin block (105) and the quick release pin (111) are placed on the sliding block (104). The clamp conversion part of the submachine gun clamp mechanism (2) or the pistol clamp mechanism (3) passes through the rectangular holes and is connected by the quick release pin (111) and the pin block (105).

3. The lightweight firearm clamp system according to claim 2, characterized in that, The main structure of the flange plate (101) is rectangular. Two small rectangular plates extend from the two wide sides of the rectangular plate along the thickness direction of the rectangular plate, with the wide side of the current rectangular plate as the long side. Six through holes distributed in a rectangular pattern are opened on all the small rectangular plates, which serve as interfaces for connecting with the buffer support frame (102) and the buffer end cover frame (109). Several sets of through holes are equally spaced with the center of the main rectangular plate structure of the flange plate (101) as the flange end for connecting with the motor of the robotic arm. A circular through hole is opened with the center of the main rectangular plate structure of the flange plate (101) as the center, and a total of four through holes are opened in the area between the flange end and the small rectangular plates as weight reduction holes. The flange plate (101) as a whole is mirror symmetrical about the surface through which the center and normal of the main rectangular plate structure of the flange plate (101) coincide with the wide side direction of the main rectangular plate structure.

4. The lightweight firearm clamp system according to claim 3, characterized in that, The structure of the buffer support frame (102) is as follows: a recessed platform is set in the middle section of a rectangular plate, and six through holes are distributed at equal intervals around the rectangular plate as the transition end with the flange plate (101). A strip plate extends outward at equal intervals at two corners of the long side at an angle of 45° with the long side. After the ends of the two strip plates are set with circular plates of the same radius, through holes are opened in the center of all the circular plates, and tubular structures of the same length extend in the same direction as the axis of the circular plates. Reinforcing ribs are set at the junction of the tubular structure and the strip plate. The buffer end cover frame (109) has a recessed platform in the middle section of a rectangular plate, and six through holes are distributed at equal intervals around the rectangular plate as the transition end with the flange plate (101). A strip plate extends outward at equal intervals at two corners of the long side at an angle of 45° with the long side. At the ends of the two strip plates, a circular plate with the same radius and a thickness smaller than the strip plate is provided. Six through holes are evenly distributed around the circular plate as the flange connection end with a pair of buffer spring cylinders (107).

5. The lightweight firearm clamp system according to claim 4, characterized in that, The main body of the buffer spring cylinder (107) is in the shape of a round tube. The outer diameter of the round tube is in transitional fit with the inner diameter of the tubular structure extending from the buffer support frame (102). One end of the round tube is sealed and a through hole with a diameter smaller than that of the round tube is opened at the sealed end with the center of the round tube as the center. The other end extends outward to form a frustum with a diameter larger than that of the round tube and six through holes are evenly distributed along the edge of the frustum as a flange end. The distribution of the through holes is the same as that of the through holes distributed at the flange connection end of the buffer end cover frame (109).

6. The lightweight firearm clamping system according to claim 5, characterized in that, The slide block (104) is rectangular in shape. The central part bends upward in the thickness direction of the rectangular plate to form a trapezoidal platform. Four rectangular holes are evenly distributed in the center of the rectangular plate at the trapezoidal platform as interfaces for cooperating with the submachine gun clamp conversion part (201) or the pistol clamp conversion part (301). The two sides of the rectangular plate extend in a Y-shape from the center of the thickness of the rectangular plate as the origin, and then extend outward along the long side of the rectangular plate to form two parallel small rectangular plates. Through holes are provided on the small rectangular plates as the transition ends for the moving parts. The slide block (104) is mirror symmetrical about the surface through which the center and normal of the main rectangular plate structure of the slide block (104) coincide with the width direction of the main rectangular plate structure.

7. The lightweight firearm clamp system according to claim 6, characterized in that, The main body of the spring guide rod (110) is a cylindrical rod-shaped part with a diameter smaller than the diameter of the through hole at the sealing end of the buffer spring cylinder (107). One end extends out a frustum with a diameter that is clearance-fitted with the inner diameter of the pair of buffer spring cylinders (107) as the spring compression end, and a rectangular notch is provided on the frustum to ensure air release. The other end has two planes with normals perpendicular to the rod axis and symmetrically distributed at the end of the rod-shaped main body, and through holes are provided on the planes as the interface with the guide rod adapter (103). Both the guide rod adapter (103) and the sleeve slider (106) are rectangular strips. A through hole with the center of the rectangular strip as the origin is provided on the main body, which has the same trend as the transition end of the moving parts of the slider plate (104). The wide sides of the guide rod adapter (103) extend outward in a concave shape with the plane that is parallel to the high side and passes through the midpoint of the high side as the center of symmetry and is provided with a through hole. The internal distance and the distribution of the through holes and the plane at the interface of the pair of spring guide rods (110) form a matching trend with the through holes. The wide sides of the sleeve slider (106) extend outward from the plane that is parallel to the high side and passes through the midpoint of the high side as the center of symmetry, forming a circular tubular structure that is in clearance fit with the outer diameter of the pair of buffer spring cylinders (107); the length of the compression spring is longer than that of the pair of buffer spring cylinders (107), the inner diameter is larger than the outer diameter of the rod-shaped body of the spring guide rod part, and the outer diameter is smaller than the inner diameter of the tubular body of the pair of buffer spring cylinders (107).

8. The lightweight firearm clamping system according to claim 1, characterized in that, The submachine gun clamp mechanism (2) includes a submachine gun clamp fixing component and a submachine gun firing component. The submachine gun clamp fixing component includes a submachine gun clamp conversion component (201), a submachine gun clamp main adapter component (202), a movable Picatinny rail (203), and a fixed Picatinny rail (204). The shape of the submachine gun clamp conversion part (201) is that rectangular pieces extend downward at equal distances from the two long sides of a rectangular plate, and through holes are provided on its side as interfaces for conversion with the main adapter part (202) of the submachine gun clamp. At the same time, four second-order rectangular pillars extend evenly in opposite directions. The larger rectangular pillars are used for positioning and height extension, and the smaller rectangular pillars are provided with through holes on their side as interfaces for cooperation with the pin block (105) and quick-release pin (111). The submachine gun firing components include a servo adapter (205), a submachine gun firing servo (206), a submachine gun servo mount (207), a submachine gun servo disc (208), a submachine gun servo arm (209), and a submachine gun firing lever (210). The main body of the servo adapter (205) is an L-shaped plate with two arms of different widths. The wide arm of the L-shaped plate has a spatial angle to adapt to the shape of the submachine gun it is mounted on. A rectangular platform extends from the end and is provided with a through hole as an interface for connecting with the main adapter (202) of the submachine gun clamp. The end of the narrow arm is provided with a through hole as an interface for connecting with the submachine gun servo frame (207). The main body of the submachine gun servo frame (207) is a rectangular plate with a series of through holes that match the shape of the main body of the submachine gun firing servo (206) and the bolt connection holes, with the center as the origin. A small rectangular plate extends outward from one of the right angles of the rectangular plate and is provided with a through hole and a small square platform. A secondary small cylindrical platform is provided on the small square platform and is provided with a through hole, which serves as the connection interface with the servo adapter (205), the positioning platform of the submachine gun firing lever (210), and the movable riveting interface, respectively. The main adapter (202) of the submachine gun clamp is connected to the submachine gun clamp conversion part (201) by bolts. The fixed Picatinny rail (204) is connected to the main adapter (202) of the submachine gun clamp by bolts. The movable Picatinny rail (203) with clamping bolts is used to form a clamp that can be clamped on the submachine gun. The submachine gun firing servo (206) is connected to the submachine gun servo frame (207) by bolts. The output shaft of the submachine gun firing servo (206) is connected to the submachine gun servo arm (209) through the submachine gun servo disc (208), which drives the submachine gun firing lever (210) riveted to the submachine gun servo frame (207) to move to complete the firing of the mounted firearm.

9. The lightweight firearm clamp system according to claim 1, characterized in that, The pistol clamp mechanism (3) includes a pistol fixing part and a pistol firing part; The pistol fastener includes a pistol clamp adapter (301), a pistol clamp main adapter (302), a grip clamp rear link (303), a grip clamp body (304), a grip clamp cover (310), and a grip clamp front link (311). The shape of the pistol clamp adapter (301) is that rectangular pieces extend downward at equal distances from the two long sides of a rectangular plate and have through holes on the side as interfaces for connecting with the submachine gun clamp main adapter (202). At the same time, four rectangular pillars extend evenly in opposite directions and have through holes on the side of the rectangular pillars as interfaces for cooperating with the pin block (105) and quick-release pin (111). The grip clamp body (304) is a right-angled trapezoidal block. A curved groove conforming to the shape of a pistol grip is machined on the trapezoidal surface of the right-angled trapezoidal block, and the acute angle is cut inward to form a right angle. Long cylinders with through holes are provided at the newly formed acute angle, the original obtuse angle, and the two right angles on the part body as interfaces for connecting with the grip clamp cover (310). A rectangular plate extends outward from the right-angled side and the newly formed hypotenuse of the trapezoidal block, and a long rectangular plate with through holes extends vertically from the end of the rectangular plate. The trapezoidal block serves as an interface for connecting the rear link (303) and the front link (311) of the grip clamp, respectively. A small rectangular plate extends outward from the right angle near the long side of the trapezoidal block and has a through hole as an interface for connecting with the pistol servo frame (306). A rectangular plate extends forward from the right angle formed by the cut-off part. The end of the rectangular plate has a circular plate structure with the same diameter as the width of the rectangular plate, and a through hole is provided at the center of the circular plate structure as a movable riveting interface with the pistol firing lever (309). The pistol firing mechanism includes a pistol firing servo (305), a pistol servo mount (306), a pistol servo disc (307), a pistol servo arm (308), and a pistol firing lever (309). The pistol clamp main adapter (302) is connected to the pistol clamp conversion component (301). The corresponding ends of the grip clamp rear link (303) and grip clamp front link (311) are respectively connected to the front and rear ends of the pistol clamp main adapter (302) and the corresponding adapter ends of the grip clamp body (304), forming a basket-like structure with the pistol clamp main adapter (302) as the base, the grip clamp rear link (303) and grip clamp front link (311) as cantilevered parts, and the grip clamp body (304) as the load. The grip clamp cover (310) uses screws. The bolt is fixed in the corresponding area of ​​the grip clamp body (304) to fix the mounted pistol; the pistol servo mount (306) is connected to the servo adapter extending from the grip clamp body (304) by bolts, the pistol firing servo (305) is connected to the pistol servo mount (306), and the output shaft of the pistol firing servo (305) is connected to the pistol servo arm (308) through the pistol servo disc (307), which drives the pistol firing lever (309) riveted to the corresponding position of the grip clamp body (304) to move and complete the firing of the mounted firearm.

10. The lightweight firearm clamping system according to any one of claims 1-9, characterized in that, The general-purpose buffer component (1) is installed on the unmanned combat platform.

Images