A mechanism for realizing multi-degree-of-freedom posture adjustment

Abstract

The present invention discloses a mechanism for realizing multi-degree-of-freedom attitude adjustment, comprising a support plate (1), a transverse and longitudinal moving plate (2), a pitch plate (3), a horizontal rotating plate (4), a pitch driving assembly (5), a transverse driving assembly (6), a longitudinal driving assembly (7), a bomb support rack (8) and a hand crank (10). The present invention provides a posture adjustment mechanism for realizing multi-degree-of-freedom attitude adjustment, which can adjust the attitude of a projectile (carrier) in terms of forward and backward heading, left and right heading, pitch heading, left and right heading roll, and rotation in a horizontal plane, and can flexibly switch different bomb support racks on the mechanism to adapt to projectiles of different diameters. The various functional modules of the present invention are centrally designed, and the overall structural rigidity is strong, which improves the guarantee efficiency and versatility of bomb hanging work of different models.

Description

Technical Field

[0001] The present invention relates to the technical field of bomb hanging equipment, and in particular to a posture adjustment mechanism for realizing multi-degree-of-freedom posture adjustment. Background Art

[0002] At present, the bomb hanging and adjusting mechanism of existing bomb hanging vehicles all adopt the external bomb hanging space structure design, which is not easily restricted by the limit of bomb hanging space. Internal bomb hanging method , the external bomb hanging mechanism is easily restricted by the space of the aircraft's built-in bomb bay, and the bomb hanging attitude adjustment mechanism needs to have a lower height and narrower width. At the same time, the operator is required to manually drive it to adjust the six-degree-of-freedom attitude conveniently and flexibly. Summary of the Invention

[0003] The present invention provides a multi-degree-of-freedom attitude adjustment mechanism to solve the technical problem in the prior art that an external bomb hanging mechanism is easily limited by the space of an aircraft's built-in bomb bay when internally hanging bombs.

[0004] In order to solve the above problems, the technical solution adopted by the present invention is:

[0005] A multi-degree-of-freedom posture adjustment mechanism includes a support plate, a transverse and longitudinal movable plate, a pitch plate, a horizontal rotary plate, a pitch drive assembly, a transverse drive assembly, a longitudinal drive assembly, a bomb support and a hand crank;

[0006] The supporting base plate and the transverse and longitudinal movable plates are respectively connected to the upper and lower parts of four groups of cross-linear guide pairs, and the transverse and longitudinal movable plates are located above the supporting base plate, the pitch plate and the transverse and longitudinal movable plates are hinged through a pitch axis, the horizontal rotary plate is installed on the pitch plate, the pitch drive assembly is arranged on the left side between the supporting plate and the transverse and longitudinal movable plates, the transverse drive assembly is installed in the middle between the supporting plate and the transverse and longitudinal movable plates, the longitudinal drive assembly is installed on the right side between the supporting plate and the transverse and longitudinal movable plates, the bomb holders are respectively arranged on both sides of the horizontal rotary plate, and the hand crank handles are respectively connected to the pitch drive assembly, the transverse drive assembly, and the longitudinal drive assembly.

[0007] The longitudinal drive assembly includes a driving bevel gear, a driving shaft, a driven bevel gear, a ball bearing, a transverse follower linear guide pair, a trapezoidal lead screw, an end cover, a longitudinal bearing seat, a trapezoidal nut block, and a longitudinal drive block;

[0008] The guide rail of the transverse moving follower linear guide pair is connected to the supporting base plate, the longitudinal moving bearing seat is connected to the slider of the transverse moving follower linear guide pair, the trapezoidal nut block 1 is screwed with the trapezoidal lead screw 1, the front and rear ends of the trapezoidal lead screw 1 are assembled with two ball angular bearings and fixed on the longitudinal moving bearing seat, the two end covers respectively press the ball angular bearings to fix them, the active bevel gear and the drive shaft 1 are installed on the longitudinal moving bearing seat and fit together, the driven bevel gear and the trapezoidal lead screw fit together and mesh with the active bevel gear, the longitudinal moving drive block is inserted into the trapezoidal nut block 1, and the longitudinal moving drive block is connected to the transverse and longitudinal moving plates.

[0009] The transverse drive assembly includes a longitudinal follower linear guide pair, a transverse bearing seat, a second trapezoidal lead screw, a second trapezoidal nut block, a transverse drive block, and a transverse connecting block;

[0010] The guide rail of the longitudinal follow-up linear guide pair is connected to the supporting base plate, the slider of the longitudinal follow-up linear guide pair is connected to the transverse bearing seat, the trapezoidal lead screw 2 is screwed with the trapezoidal nut block 2, the two ends of the trapezoidal lead screw 2 are respectively fitted with ball angular bearings and end covers installed on the transverse bearing seat, the transverse drive block is inserted into the trapezoidal nut block 2, the trapezoidal nut block 2 is connected to the transverse connecting block, and the transverse connecting block is connected to the transverse and longitudinal moving plates.

[0011] The pitch drive assembly includes a pitch seat, a tail end bearing seat, a third trapezoidal screw, a first connecting seat, a trapezoidal nut seat, a joint bearing seat, a turbine, a second drive shaft, a worm, a pin, a second connecting seat, a turbine connecting sleeve, and a dust cover;

[0012] The turbine connecting sleeve and the turbine are fitted on the pitch seat with two angular bearings, the drive shaft 2 and the worm are fitted on the pitch seat with two angular bearings, the trapezoidal nut seat is connected to the connecting seat 1, the trapezoidal nut seat is screwed with the trapezoidal screw 3, the joint bearing seat and the tail end bearing seat are respectively fitted with the first and tail ends of the trapezoidal screw 3, the trapezoidal screw 3 is fitted with the turbine connecting sleeve, the joint bearing seat and the tail end bearing seat are connected to the pitch seat, the connecting seat 2 is connected to the connecting seat 1, the pin is connected to the connecting seat 2, the dust cover is connected to the pitch seat, and the pitch seat is connected to the horizontal and vertical movable plates.

[0013] It also includes two end ball bearings, the end ball bearing at the bottom is hinged to the connecting seat 2 through a pin, each end ball bearing is connected to a double-headed screw respectively, the end ball bearing at the top is hinged to the pitch drive plate through a pin, and the pitch drive plate is connected to the pitch plate.

[0014] The pitch plate is also provided with a shaft ring support seat, the shaft ring support seat and the pitch plate are assembled and connected by a positioning pin, the shaft ring support seat is connected to the outer ring of the end face bearing, and the inner ring of the end face bearing is connected to the horizontal rotary plate.

[0015] It also includes a shaft collar support column, which is coaxially pressed into the horizontal rotary plate and the inner ring of the end face bearing and is connected to the horizontal rotary plate.

[0016] Support frames are provided at both ends of the horizontal rotating plate, and a hand crank storage box is provided on the support frame. The end of the support frame is also connected to a supporting copper sleeve, and the supporting copper sleeve is coaxially pressed into connection with the bullet support seat, and the bullet support frame is provided on the bullet support seat.

[0017] A rotary lock pin is inserted in the middle of the horizontal rotary plate, and the rotary lock pin also passes through the shaft ring support seat.

[0018] Based on the above technical solution, the following technical effects can be produced:

[0019] 1. The present invention provides a multi-degree-of-freedom attitude adjustment mechanism for the projectile, which can be manually and flexibly adjusted. This mechanism can adjust the projectile's posture in multiple degrees of freedom, including forward and backward heading, left and right heading, pitch heading, left and right heading roll, and rotation in the horizontal plane. Different bomb carriers can be flexibly switched on the mechanism to accommodate projectiles of different diameters.

[0020] 2. The functional modules of the present invention are centrally designed, and the overall structural rigidity is strong. The operator can quickly and flexibly drive the mechanism on both sides at the same time. The overall structural design improves the guarantee efficiency and versatility of bomb hanging work on different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front view of the present invention;

[0022] Figure 2 is a top view of the present invention;

[0023] Figure 3 It is a KK sectional view of the present invention;

[0024] Figure 4 It is a side view of the present invention.

[0025] In the figure, 1-support base plate, 2-horizontal and vertical moving plate, 3-pitch plate, 4-horizontal rotary plate, 5-pitch drive assembly, 6-lateral drive assembly, 7-longitudinal drive assembly, 8-bomb support, 10-hand crank, 11-rotation lock pin, 12-cross linear guide pair, 13-driving bevel gear, 14-drive shaft 1, 15-driven bevel gear, 16-ball angular bearing, 17-lateral follower linear guide pair, 18-trapezoidal screw 1, 19-end cover, 20-longitudinal bearing seat, 21-trapezoidal nut block 1, 22-longitudinal drive block, 23-longitudinal follower linear guide pair, 24-lateral bearing seat, 25-trapezoidal screw 2, 26-trapezoidal Nut block two, 27-transverse drive block, 28-transverse connecting block, 29-pitch seat, 30-tail end bearing seat, 31-trapezoidal screw three, 32-connecting seat one, 33-trapezoidal nut seat, 34-joint bearing seat, 35-turbine, 36-drive shaft two, 37-worm, 39-pin, 40-connecting seat two, 41-turbine connecting sleeve, 42-dust cover, 47-end ball bearing, 48-double-headed screw, 49-pitch drive plate, 50-pitch axis, 51-shaft collar support column, 52-end bearing, 53-shaft collar support seat, 54-locating pin, 55-support frame, 56-hand crank storage box, 57-bullet support seat, 58-support copper sleeve. DETAILED DESCRIPTION

[0026] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0028] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] like Figure 1-4As shown, a multi-degree-of-freedom posture adjustment mechanism includes a support plate 1, a transverse and longitudinal movable plate 2, a pitch plate 3, a horizontal rotary plate 4, a pitch drive assembly 5, a transverse drive assembly 6, a longitudinal drive assembly 7, a bomb support 8, and a hand crank 10;

[0031] The supporting base plate 1 and the transverse and longitudinal movable plate 2 are respectively connected to the four groups of cross-linear guide pairs 12 up and down, and the transverse and longitudinal movable plate 2 is located above the supporting base plate 1, the pitch plate 3 and the transverse and longitudinal movable plate 2 are hinged through the pitch axis 50, the horizontal rotary plate 4 is installed on the pitch plate 3, the pitch drive assembly 5 is arranged on the left side between the supporting plate 1 and the transverse and longitudinal movable plate 2, the transverse drive assembly is installed in the middle between the supporting plate 1 and the transverse and longitudinal movable plate 2, the longitudinal drive assembly 7 is installed on the right side between the support plate 1 and the transverse and longitudinal movable plate 2, the bullet support rack 8 is respectively arranged on both sides of the horizontal rotary plate 4, and the hand crank handle 10 is respectively connected to the pitch drive assembly 5, the transverse drive assembly 6, and the longitudinal drive assembly 7.

[0032] The longitudinal drive assembly 7 includes a driving bevel gear 13, a driving shaft 14, a driven bevel gear 15, a ball bearing 16, a transverse follower linear guide pair 17, a trapezoidal lead screw 18, an end cover 19, a longitudinal bearing seat 20, a trapezoidal nut block 21, and a longitudinal drive block 22;

[0033] The guide rail of the transverse moving follower linear guide pair 17 is connected to the supporting base plate 1, the longitudinal moving bearing seat 20 is connected to the slider of the transverse moving follower linear guide pair 17, the trapezoidal nut block 21 is screwed with the trapezoidal screw 18, the front and rear ends of the trapezoidal screw 18 are assembled with two ball angular bearings 16 and fixed on the longitudinal moving bearing seat 20, the two end covers 19 respectively press the ball angular bearings 16 to fix them, the active bevel gear 13 and the drive shaft 14 are installed on the longitudinal moving bearing seat 20, the driven bevel gear 15 is fitted with the trapezoidal screw 18 and meshes with the active bevel gear 13, the longitudinal driving block 22 is inserted into the trapezoidal nut block 21, and the longitudinal driving block 22 is connected to the transverse and longitudinal moving plates 2.

[0034] The transverse drive assembly 6 includes a longitudinal follower linear guide pair 23, a transverse bearing seat 24, a second trapezoidal lead screw 25, a second trapezoidal nut block 26, a transverse drive block 27, and a transverse connecting block 28;

[0035] The guide rail of the longitudinal follow-up linear guide pair 23 is connected to the supporting base plate 1, the slider of the longitudinal follow-up linear guide pair 23 is connected to the transverse bearing seat 24, the trapezoidal lead screw 25 is screwed with the trapezoidal nut block 26, the two ends of the trapezoidal lead screw 25 are respectively fitted with ball angular bearings and end covers installed on the transverse bearing seat 24, the transverse drive block 27 is inserted into the trapezoidal nut block 26, the trapezoidal nut block 26 is connected to the transverse connecting block 28, and the transverse connecting block 28 is connected to the transverse and longitudinal moving plates 2.

[0036] The pitch drive assembly 5 includes a pitch seat 29, a tail end bearing seat 30, a trapezoidal screw 31, a connecting seat 1 32, a trapezoidal nut seat 33, a joint bearing seat 34, a turbine 35, a second drive shaft 36, a worm 37, a pin 39, a connecting seat 2 40, a turbine connecting sleeve 41, and a dust cover 42;

[0037] The turbine connecting sleeve 42 and the turbine 35 are fitted on the pitch seat 29 with two angular bearings, the drive shaft 2 36 and the worm 37 are fitted on the pitch seat 29 with two angular bearings, the trapezoidal nut seat 33 is connected to the connecting seat 1 32, the trapezoidal nut seat 33 is screwed with the trapezoidal screw 31, the joint bearing seat 34 and the tail end bearing seat 30 are respectively fitted with the head and tail ends of the trapezoidal screw 31, the trapezoidal screw 31 is fitted with the turbine connecting sleeve 41, the joint bearing seat 34 and the tail end bearing seat 30 are connected to the pitch seat 29, the connecting seat 2 40 is connected to the connecting seat 1 32, the pin 39 is connected to the connecting seat 2 40, the dust cover 42 is connected to the pitch seat 29, and the pitch seat 29 is connected to the horizontal and vertical movable plate 2.

[0038] It also includes two end ball bearings 47, the end ball bearing 47 at the bottom is hinged to the connecting seat 2 40 through a pin 39, each end ball bearing 47 is connected to a double-headed screw respectively, the end ball bearing 47 at the top is hinged to the pitch drive plate 49 through a pin 39, and the pitch drive plate 49 is connected to the pitch plate 3.

[0039] The pitch plate 3 is also provided with an axial ring support seat 53, and the axial ring support seat 53 is assembled, positioned and connected to the pitch plate 3 through a positioning pin 54. The axial ring support seat 53 is connected to the outer ring of the end face bearing 52, and the inner ring of the end face bearing 52 is connected to the horizontal rotating plate 4.

[0040] It also includes a shaft collar support column 51 , which is coaxially pressed into the horizontal rotary plate 4 and the inner ring of the end face bearing 52 and is connected to the horizontal rotary plate 4 .

[0041] Support frames 55 are provided at both ends of the horizontal rotating plate 4, and a hand crank storage box 56 is provided on the support frame 55. The end of the support frame 55 is also connected to a supporting copper sleeve 58, and the supporting copper sleeve 58 is coaxially pressed into connection with the bullet support seat 57. The bullet support frame 8 is provided on the bullet support seat 57.

[0042] A rotation lock pin 11 is inserted in the middle of the horizontal rotary plate 4 , and the rotation lock pin 11 also passes through the shaft ring support seat 53 .

[0043] The working principle of the multi-degree-of-freedom posture adjustment mechanism provided by the present invention is as follows:

[0044] The working principle of the longitudinal forward and backward movement adjustment is: insert the hand crank 10 into the drive shaft 14 and rotate it manually in the clockwise and counterclockwise directions. The longitudinal movement drive block 22 is driven by a series of mechanical transmissions such as the active bevel gear 13, the driven bevel gear 15, the ball bearing 16, the trapezoidal screw 18, the trapezoidal nut block 21, etc., to drive the horizontal and vertical moving plate 2, so that the horizontal and vertical moving plate 2 and all its connected mechanisms and the elastic body as a whole slide linearly along the upper end guide rail of the cross linear guide pair 12.

[0045] The working principle of the lateral forward and backward movement adjustment: insert the hand crank 10 into the trapezoidal screw 25 and rotate it manually in the forward and reverse directions. The trapezoidal nut block 26 is driven by the spiral linear drive to make the lateral drive block 27 synchronously drive the lateral connecting block 28 and its connected lateral and longitudinal moving plate 2 to slide linearly along the lower end guide rail of the cross linear guide pair 12.

[0046] The working principle of pitch adjustment: insert the hand crank 10 into the drive shaft 2 36 and rotate it manually in the clockwise and counterclockwise directions, and drive the turbine 35 by synchronously rotating the worm 37. The turbine 35 synchronously rotates the trapezoidal screw 31, and the spiral drives the trapezoidal nut seat 33, so that the connecting seat 1 32 drives the pitch plate 3 and all its connecting mechanisms around the pitch axis 50 to adjust the pitch angle as a whole through the connecting seat 2 40, pin 39, end ball bearing 47, double-headed screw 48, and pitch drive plate 49.

[0047] The working principle of the rotation adjustment: manually pull out the rotation lock pin 11, unlock the horizontal rotating plate 4 relative to the shaft ring support seat 53, and manually rotate the horizontal rotating plate 4 so that it, together with the shaft ring support column 51 and the inner ring of the end face bearing 52, rotates 360° in a horizontal plane around the outer ring of the end face bearing 52, while driving the bullet support rack and the bullet placed therein.

[0048] The working principle of roll adjustment is: manually rotate the projectile placed on the bullet support rack 8 so that the projectile rotates in a vertical circle around the roller on the bullet support rack 8.

[0049] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. However, the present invention is not limited to the above embodiments. Various modifications are possible within the scope of ordinary skill in the art without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A mechanism for achieving multi-degree-of-freedom posture adjustment, characterized in that: It comprises a supporting base plate (1), a transverse and longitudinal moving plate (2), a pitch plate (3), a horizontal rotating plate (4), a pitch driving assembly (5), a transverse moving driving assembly (6), a longitudinal moving driving assembly (7), a bomb support (8) and a hand crank (10); The supporting base plate (1) and the transverse and longitudinal movable plate (2) are respectively connected to the four groups of cross linear guide rail pairs (12) in the upper and lower parts, and the transverse and longitudinal movable plate (2) is located above the supporting base plate (1), the pitch plate (3) and the transverse and longitudinal movable plate (2) are hinged through the pitch axis (50), the horizontal rotary plate (4) is installed on the pitch plate (3), the pitch drive assembly (5) is arranged on the left side between the supporting base plate (1) and the transverse and longitudinal movable plate (2), the transverse drive assembly is installed in the middle between the supporting base plate (1) and the transverse and longitudinal movable plate (2), the longitudinal drive assembly (7) is installed on the right side between the supporting base plate (1) and the transverse and longitudinal movable plate (2), the bomb holder (8) is respectively arranged on both sides of the horizontal rotary plate (4), and the hand crank (10) is respectively connected to the pitch drive assembly (5), the transverse drive assembly (6), and the longitudinal drive assembly (7); It also includes two end face ball bearings (47), the end face ball bearing (47) at the bottom is hinged to the second connecting seat (40) through a pin (39), each end face ball bearing (47) is connected to a double-headed screw, the end face ball bearing (47) at the top is hinged to the pitch drive plate (49) through a pin (39), and the pitch drive plate (49) is connected to the pitch plate (3); A shaft collar support seat (53) is also provided on the pitch plate (3). The shaft collar support seat (53) and the pitch plate (3) are assembled, positioned and connected via a positioning pin (54). The shaft collar support seat (53) is connected to the outer ring of the end face bearing (52), and the inner ring of the end face bearing (52) is connected to the horizontal rotary plate (4).

2. A mechanism for achieving multi-degree-of-freedom posture adjustment according to claim 1, characterized in that: The longitudinal drive assembly (7) includes a driving bevel gear (13), a driving shaft (14), a driven bevel gear (15), a ball bearing (16), a transverse follower linear guide pair (17), a trapezoidal lead screw (18), an end cover (19), a longitudinal bearing seat (20), a trapezoidal nut block (21), and a longitudinal drive block (22); The guide rail of the transverse follower linear guide pair (17) is connected to the supporting base plate (1), the longitudinal bearing seat (20) is connected to the slider of the transverse follower linear guide pair (17), the trapezoidal nut block (21) is screwed with the trapezoidal lead screw (18), the front and rear ends of the trapezoidal lead screw (18) are assembled with two ball bearings (16) and fixed on the longitudinal bearing seat (20), the two end covers (19) respectively press the ball bearings (16) and fix them, the active bevel gear (13) and the drive shaft (14) are installed on the longitudinal bearing seat (20) and fit together, the driven bevel gear (15) and the trapezoidal lead screw (18) are fit together and mesh with the active bevel gear (13), the longitudinal drive block (22) is inserted into the trapezoidal nut block (21), and the longitudinal drive block (22) is connected to the transverse and longitudinal moving plates (2).

3. The mechanism for achieving multi-degree-of-freedom posture adjustment according to claim 1, characterized in that: The transverse drive assembly (6) includes a longitudinal follower linear guide pair (23), a transverse bearing seat (24), a second trapezoidal lead screw (25), a second trapezoidal nut block (26), a transverse drive block (27), and a transverse connecting block (28); The guide rail of the longitudinal follow-up linear guide pair (23) is connected to the supporting base plate (1), the slider of the longitudinal follow-up linear guide pair (23) is connected to the transverse bearing seat (24), the trapezoidal lead screw 2 (25) is screwed with the trapezoidal nut block 2 (26), the two ends of the trapezoidal lead screw 2 (25) are respectively fitted with ball angular bearings and end covers and installed on the transverse bearing seat (24), the transverse driving block (27) is inserted into the trapezoidal nut block 2 (26), the trapezoidal nut block 2 (26) is connected to the transverse connecting block (28), and the transverse connecting block (28) is connected to the transverse and longitudinal moving plate (2).

4. The mechanism for achieving multi-degree-of-freedom posture adjustment according to claim 1, characterized in that: The pitch drive assembly (5) includes a pitch seat (29), a tail end bearing seat (30), a trapezoidal screw three (31), a connecting seat one (32), a trapezoidal nut seat (33), a joint bearing seat (34), a turbine (35), a driving shaft two (36), a worm (37), a pin (39), a connecting seat two (40), a turbine connecting sleeve (41), and a dust cover (42); The turbine connecting sleeve (41) and the turbine (35) are fitted on the pitch seat (29) with two angular bearings, the driving shaft 2 (36) and the worm (37) are fitted on the pitch seat (29) with two angular bearings, the trapezoidal nut seat (33) is connected to the connecting seat 1 (32), the trapezoidal nut seat (33) is screwed with the trapezoidal lead screw 3 (31), the joint bearing seat (34) and the tail end bearing seat (30) are respectively screwed with the trapezoidal lead screw 3 (31) The head and tail ends are fitted together, the trapezoidal screw three (31) is fitted with the turbine connecting sleeve (41), the joint bearing seat (34) and the tail end bearing seat (30) are connected to the pitch seat (29), the connecting seat two (40) is connected to the connecting seat one (32), the pin (39) is connected to the connecting seat two (40), the dust cover (42) is connected to the pitch seat (29), and the pitch seat (29) is connected to the horizontal and vertical movable plate (2).

5. The mechanism for achieving multi-degree-of-freedom posture adjustment according to claim 1, characterized in that: It also includes a collar support column (51), which is coaxially pressed into the inner ring of the horizontal rotary plate (4) and the end face bearing (52) and is connected to the horizontal rotary plate (4).

6. The mechanism for achieving multi-degree-of-freedom posture adjustment according to claim 1, characterized in that: Support frames (55) are provided at both ends of the horizontal rotary plate (4), and a hand crank storage box (56) is provided on the support frame (55). The end of the support frame (55) is also connected to a support copper sleeve (58), and the support copper sleeve (58) is coaxially pressed into the bullet support seat (57). The bullet support frame (8) is provided on the bullet support seat (57).

7. The mechanism for achieving multi-degree-of-freedom posture adjustment according to claim 1, characterized in that: A rotary lock pin (11) is inserted in the middle of the horizontal rotary plate (4), and the rotary lock pin (11) also passes through the shaft ring support seat (53).

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