A small-arm span electric shock wearable weapon arm with an adjustable base

Abstract

The present invention belongs to the field of exo-limb robots, and specifically relates to a small-arm span wearable electric shock weapon arm with an adjustable base. It comprises a back frame, a four-degree-of-freedom robotic arm mechanism connected to the back frame via a slide rail, and a gun mount mechanism connected to the end of the robotic arm mechanism; the four-degree-of-freedom robotic arm mechanism comprises a robotic arm base, a first degree-of-freedom mechanism, a second degree-of-freedom mechanism, a third degree-of-freedom mechanism, and a fourth degree-of-freedom mechanism; the gun mount mechanism comprises a buffer clamping mechanism and an electric shock mechanism, wherein the buffer clamping mechanism is used for clamping the firearm and providing a buffer during firing, and the electric shock mechanism is used for electrically firing the firearm. The present invention can achieve fire suppression in multiple environments, has better human-machine motion coordination, and can effectively enhance the combat effectiveness of individual soldiers.

Description

Technical Field

[0001] The present invention belongs to the field of exo-limb robots, and in particular relates to a small-arm span electric shock wearable weapon arm with an adjustable base. Background Art

[0002] The future battlefield combat environment is complex, which puts forward new requirements for intelligent equipment of individual soldiers. In the future, individual soldiers on the battlefield will need individual equipment to give them higher attack capabilities, expand the scope of individual soldier tasks, enable individual soldiers to replace the team to complete the team's tasks, and improve combat efficiency. Wearable weapon arms are designed to give full play to the functions of man and machine, and improve the combat capability of individual soldiers through efficient human-machine collaboration. At present, the main way for individual soldiers to fight with guns is to hold guns or use gun mounts to assist in shooting. Shooting accuracy and stability are directly affected by the combat capability of individual soldiers. Research on wearable weapons for individual soldiers is in its infancy and has achieved few research results. Existing wearable weapon arm equipment can provide soldiers with a certain degree of stability in holding guns and assist soldiers in completing strikes, but most of them are too large and heavy, which will affect the soldiers' mobility to a certain extent and cannot meet the combat needs of future battlefields.

[0003] In the invention patent with patent number CN112665462B, a wearable weapon arm device with dual shooting modes is disclosed. This invention can realize two shooting modes: assisted handheld shooting and controller-controlled shooting. However, its mechanical arm rod is too long, and the recoil force when the gun is fired has a greater impact on the human body.

[0004] In the invention patent with patent number CN115046423A, a lightweight weapon arm device is disclosed. This invention can realize automatic shooting of firearms, but it can only realize horizontal rotation and pitch rotation. It is suitable for automatic shooting under a fixed base. The ergonomics of the device worn by a single soldier is low, and human-machine coordinated movement is difficult to ensure. Summary of the Invention

[0005] The purpose of the present invention is to provide a small-arm span electric shock wearable weapon arm with an adjustable base. The wearable weapon arm cooperates with the wearer to achieve fire suppression in multiple environments through semi-autonomous firing, has better human-machine motion coordination, solves the problems of low autonomy and poor ergonomics of existing weapon arms, and can effectively improve the combat effectiveness of individual soldiers.

[0006] The technical solution for achieving the purpose of the present invention is: a small-span electric shock wearable weapon arm with an adjustable base, comprising a back frame, a four-degree-of-freedom robotic arm mechanism connected to the back frame via a slide rail, and a gun mount mechanism connected to the end of the robotic arm mechanism;

[0007] The four-degree-of-freedom robotic arm mechanism includes a robotic arm base, a first degree-of-freedom mechanism, a second degree-of-freedom mechanism, a third degree-of-freedom mechanism, and a fourth degree-of-freedom mechanism;

[0008] The gun rack mechanism includes a buffer clamping mechanism and an electric firing mechanism. The buffer clamping mechanism is used for clamping the firearm and providing buffering during firing, and the electric firing mechanism is used for electrically firing the firearm.

[0009] Furthermore, the back frame is provided with two rows of slide rails, and the slide rails are provided with continuous and evenly distributed holes. The robotic arm base includes a base body and a base locking mechanism arranged on both sides of the base body for realizing the movement and locking of the robotic arm base on the back frame slide rails. The first degree of freedom mechanism is fixed on the base body.

[0010] Furthermore, the base locking mechanism includes a stop key, a slider seat, a first compression spring and a button;

[0011] The stop key is provided with protrusions that match the holes evenly distributed on the slide rail, and is also provided with a connecting block that passes through the slider seat and is connected to the key, and a first compression spring is provided between the key and the slider seat; by pressing the key, the connecting block slides in the slider seat, and the protrusions are disengaged from the holes on the slide rail, thereby realizing the sliding of the base on the slide rail; when sliding to the desired position, the button is released, and the protrusions on the stop key enter the holes in the slide rail, thereby fixing the position of the base on the slide rail.

[0012] Furthermore, the first degree of freedom mechanism includes a first degree of freedom support, a first deep groove ball bearing, a first connecting shaft and a first motor;

[0013] The upper end of the first degree of freedom support is designed to be a multi-toothed ring type, the first deep groove ball bearing is located in the circular ring formed by the multi-toothed ring, the support teeth are connected to the outer ring of the first deep groove ball bearing, the outer ring of the upper end of the first connecting shaft is connected to the inner ring of the first deep groove ball bearing, the top end of the first connecting shaft is fixedly connected to the second degree of freedom support by screws, the lower end is fixedly connected to the first motor by screws, the first motor is fixedly connected to the first degree of freedom support by bolts, and the lower end of the first degree of freedom support is fixedly connected to the base body by bolts;

[0014] The rotation direction of the first connecting shaft is the normal direction of the robot arm base, and the rotation angle of the first degree of freedom is 0-360°.

[0015] Furthermore, the second degree of freedom mechanism includes a second degree of freedom support, a second deep groove ball bearing, a second connecting shaft, and a second motor;

[0016] The upper end of the second degree of freedom support is designed to be a multi-toothed ring type, the second deep groove ball bearing is located in the circular ring formed by the multi-toothed ring, the support teeth are connected to the outer ring of the second deep groove ball bearing, the outer ring of the upper end of the second connecting shaft is connected to the inner ring of the second deep groove ball bearing, the top end of the second connecting shaft is fixedly connected to the third degree of freedom support by screws, the lower end is fixedly connected to the second motor by screws, the second motor is fixedly connected to the second degree of freedom support by bolts, and the lower end of the second degree of freedom support is connected to the first connecting shaft by screws;

[0017] The rotation direction of the second connecting shaft is perpendicular to the rotation direction of the first connecting shaft, and the second degree of freedom rotation angle is 0-180°.

[0018] Furthermore, the third degree of freedom mechanism includes a third degree of freedom support, a third deep groove ball bearing, a third connecting shaft and a third motor in sequence;

[0019] The upper end of the third degree of freedom support is designed to be a multi-toothed ring type, the third deep groove ball bearing is located in the circular ring formed by the multi-toothed ring, the support teeth are connected to the outer ring of the third deep groove ball bearing, the outer ring of the upper end of the third connecting shaft is connected to the inner ring of the third deep groove ball bearing, the top end of the third connecting shaft is fixedly connected to the fourth degree of freedom support by screws, the lower end is fixedly connected to the third motor by screws, the third motor is fixedly connected to the third degree of freedom support by bolts, and the lower end of the third degree of freedom support is fixedly connected to the second connecting shaft by screws;

[0020] The rotation direction of the third connecting shaft is perpendicular to the rotation direction of the second connecting shaft, and the rotation angle of the third degree of freedom is 0-360°.

[0021] Furthermore, the fourth degree of freedom mechanism includes a fourth degree of freedom support, a fourth deep groove ball bearing, a fourth connecting shaft and a fourth motor;

[0022] The upper end of the fourth degree of freedom support is designed to be a multi-toothed ring type, the fourth deep groove ball bearing is located in the circular ring formed by the multi-toothed ring, the support teeth are connected to the outer ring of the fourth deep groove ball bearing, the outer ring of the upper end of the fourth connecting shaft is connected to the inner ring of the fourth deep groove ball bearing, the top end of the fourth connecting shaft is fixedly connected to the buffer gun mount support by screws, the lower end is fixedly connected to the fourth motor by screws, the fourth motor is fixedly connected to the fourth degree of freedom support by bolts, and the lower end of the fourth degree of freedom support is fixedly connected to the third connecting shaft by screws;

[0023] The rotation direction of the fourth connecting shaft is perpendicular to the rotation direction of the third connecting shaft, and the fourth degree of freedom rotation angle is 0-180°.

[0024] Furthermore, the buffer clamping mechanism includes a buffer gun frame slide, a gas spring, a buffer gun frame support, a guide rail provided on the buffer gun frame support for sliding the buffer gun frame slide, and a firearm clamping mechanism;

[0025] The buffer gun mount support is connected to the buffer gun mount slide by bolts through a gas spring to form a moving pair, which initially forms a buffer mechanism. The buffer gun mount slide is parallel to the axis of the clamped firearm barrel, and the compression axis of the gas spring is parallel to the axis of the firearm barrel.

[0026] The firearm is connected as a relative whole through a firearm clamping mechanism and a buffer gun frame slide. When the firearm is fired, the buffer gun frame slide that clamps the firearm compresses the gas spring and slides in the guide rail on the buffer gun frame support, thereby buffering the recoil force generated by the firing of the firearm.

[0027] Furthermore, the firearm clamping mechanism is symmetrically arranged in two groups on the buffer gun frame sliding member, and each group of the firearm clamping mechanism includes upper and lower blocks, upper and lower hinge connecting blocks, upper and lower torsion spring hinges, upper and lower vertical clamping blocks, horizontal clamping blocks, multiple second compression springs, a U-shaped clamping support and a block switch;

[0028] The middle part of the clamping support is fixedly connected to the end of the buffer gun mount sliding member by screws, and the second compression springs are clamped between the upper and lower horizontal clamping blocks and the clamping support respectively, and are fixedly connected to the hinge connecting block by screws to form a moving pair. The connecting rod of the vertical clamping block passes through the second compression spring and the clamping support and is fixedly connected to the block switch by screws. The hinge connecting block, torsion spring hinge and block are fixedly connected by screws, and the rotation angle of the hinge connecting block and the block relative to the torsion spring hinge is maximum 180° inside.

[0029] Furthermore, the electric firing mechanism includes a firing rod, a connecting piece and an electric push rod;

[0030] The firing rod is connected to the buffer gun frame sliding part by screws to form a rotating pair. The two ends of the electric push rod are respectively connected to the firing rod and the electric push rod through connecting parts. The end of the firing rod is provided with a cylindrical part that directly fits with the gun trigger. The firing rod is pulled by the electronically controlled electric push rod to realize the electronically controlled firing of the gun.

[0031] Compared with the prior art, the present invention has the following significant advantages:

[0032] (1) The back frame of the present invention adopts a limiting slide rail to realize the free up and down movement of the robotic arm base on the back frame. The position of the robotic arm base can be adjusted according to the deployment and retraction state of the wearable weapon arm, and can also be adjusted accordingly according to the height and body shape of the wearer.

[0033] (2) The robotic arm mechanism of the present invention adopts a four-degree-of-freedom structural distribution scheme, which can meet the requirements of all-round aiming in space. While ensuring that the aiming requirements are met, the arm length is shortened as much as possible, the structure is more compact, and the weight of the wearable weapon arm is reduced, so that the firearm can be fired above the wearer's shoulder, reducing the impact of the recoil of the firearm on the wearer when firing.

[0034] (3) The four degrees of freedom of the robot arm mechanism of the present invention are connected by direct shaft connection and motor-driven shaft connection, so that the generated robot arm joint torque is mainly borne by the structure, reducing the impact of the torque on the motor.

[0035] (4) The gun mount mechanism of the present invention includes an adaptive gun clamping tool that can clamp most standard guns and cooperate with the electric firing device and buffer device to achieve continuous and stable shooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic structural diagram of the wearable weapon arm of the present invention.

[0037] Figure 2 Schematic diagram of the robotic arm base of the present invention.

[0038] Figure 3 It is a schematic diagram of the first degree of freedom mechanism of the present invention.

[0039] Figure 4 It is a schematic diagram of the second degree of freedom mechanism of the present invention.

[0040] Figure 5 It is a schematic diagram of the third degree of freedom mechanism of the present invention.

[0041] Figure 6 It is a schematic diagram of the fourth degree of freedom mechanism of the present invention.

[0042] Figure 7 It is a schematic diagram of the buffer clamping mechanism of the present invention.

[0043] Figure 8 It is a schematic diagram of the electric shock device of the present invention.

[0044] Description of reference numerals:

[0045] 1-first degree of freedom mechanism, 2-second degree of freedom mechanism, 3-third degree of freedom mechanism, 4-fourth degree of freedom mechanism, 5-buffer clamping mechanism, 6-electric triggering mechanism, 7-manipulator base, 8-back frame, 7-1-block key, 7-2-slider seat, 7-3-first compression spring, 7-4-button, 1-1-first degree of freedom support, 1-2-first deep groove ball bearing, 1-3-first connecting shaft, 1-4-first motor, 2-1-second degree of freedom support, 2-2-second deep groove ball bearing, 2-3-second connecting shaft, 2-4-second motor, 3-1-third degree of freedom support, 3-2 -Third deep groove ball bearing, 3-3-third connecting shaft, 3-4-third motor, 4-1-fourth degree of freedom support, 4-2-fourth deep groove ball bearing, 4-3-fourth connecting shaft, 4-4-fourth motor, 5-1-buffer gun mount slide, 5-2-gas spring, 5-3-buffer gun mount support, 5-4-stopper, 5-5-hinge connecting block, 5-6-torsion spring hinge, 5-7-horizontal clamping block, 5-8-vertical clamping block, 5-9-second compression spring, 5-10-clamping support, 5-11-stopper switch, 6-1-firing rod, 6-2-connecting piece, 6-3-electric push rod. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below with reference to the accompanying drawings.

[0047] Combine Figure 1 A wearable weapon arm with an adjustable base and small arm span and electric shock triggering mechanism includes a back frame 8, a mechanical arm mechanism connected by a slide rail, and a gun mount mechanism connected to the end of the mechanical arm. The back frame is a vertical structure that can be secured to the human back or directly to a human exoskeleton via a strap. The mechanical arm mechanism includes a mechanical arm base 7, a first degree of freedom mechanism 1, a second degree of freedom mechanism 2, a third degree of freedom mechanism 3, and a fourth degree of freedom mechanism 4; the gun mount mechanism includes a buffer clamping mechanism 5 and an electric shock triggering mechanism 6.

[0048] Among them, the manipulator base 7, the first degree of freedom mechanism 1, the second degree of freedom mechanism 2, the third degree of freedom mechanism 3 and the fourth degree of freedom mechanism 4 are connected in sequence, the manipulator base 7 is connected to the back frame 8 through a slide rail, and the back frame adopts a limit slide rail to realize the free up and down movement of the manipulator base on the back frame, and can adjust the position of the manipulator base according to the deployment and recovery state of the wearable weapon arm, and can also be adjusted accordingly according to the height and body shape of the wearer; the fourth degree of freedom mechanism 4 is connected to the buffer clamping mechanism 5 as the end of the manipulator, and the four degree of freedom mechanisms constitute a four-degree-of-freedom manipulator structure. The third and fourth degrees of freedom are responsible for ensuring that the end can point to all directions in space, and the first and second degrees of freedom are responsible for adjusting the spatial position of the target pointing end. The Monte Carlo algorithm is used to solve the feasible workspace, and the four-degree-of-freedom structure meets the requirements of all-round aiming in space.

[0049] Among them, the buffer clamping mechanism 5 cooperates with the electric firing mechanism 6 to form an adaptive firearm clamping, buffering and firing mechanism, an adaptive firearm clamping tool, which can clamp most standard firearms and cooperate with the electric firing device and the buffer device to achieve continuous and stable shooting.

[0050] Combine Figure 1 、 Figure 2 The robot arm base 7 includes a stop key 7-1, a slider seat 7-2 (with a hole for the connecting protrusion to pass through), a first compression spring 7-3, and a button 7-4.

[0051] Among them, the stop key 7-1 forms a moving pair with the slider seat 7-2 through the corresponding hole position, the first compression spring 7-3 is clamped between the slider seat 7-2 and the button 7-4 to form a moving pair, the stop key 7-1 and the button 7-4 are fixed by screws, and the back frame 8 forms a moving pair with the slider seat 7-2 through the corresponding hole position. By pressing the buttons 7-4 on both sides of the slider seat 7-2, the two pins of the stop key 7-1 are pulled out of the corresponding grooves on the back frame 8, and the slider seat 7-2 can move freely on the slide rail on the back frame 8. After adjusting to the corresponding position, the first compression spring 7-3 clamped between the slider seat 7-2 and the button 7-4 will automatically bounce the button 7-4 back to its original position, and insert the two pins of the stop key 7-1 into the corresponding grooves on the back frame 8, so that the robot arm base can move freely up and down on the back frame.

[0052] Combine Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 The first degree of freedom mechanism 1 includes a first degree of freedom support 1-1, a first deep groove ball bearing 1-2, a first connecting shaft 1-3, and a first motor 1-4.

[0053] Among them, the upper end of the first degree of freedom support 1-1 is designed to be a multi-tooth ring type, the first deep groove ball bearing 1-2 is located in the circular ring formed by the multi-tooth ring, the support teeth are connected to the outer ring of the first deep groove ball bearing 1-2, the outer ring of the upper end of the first connecting shaft 1-3 is connected to the inner ring of the first deep groove ball bearing 1-2, the top of the first connecting shaft 1-3 is fixedly connected to the second degree of freedom support 2-1 by screws, and the lower end is fixedly connected to the first motor 1-4 by screws, the first motor 1-4 is fixedly connected to the first degree of freedom support 1-1 by bolts, and the lower end of the first degree of freedom support 1-1 is fixedly connected to the slider seat 7-2 by bolts. Through this connection method, the generated mechanical arm joint torque is mainly borne by the structure, reducing the impact of the torque on the motor, making the structure more compact, reducing the weight of the weapon arm, shortening the mechanical arm rod length, and reducing the torque (the second degree of freedom mechanism 2, the third degree of freedom mechanism 3, and the fourth degree of freedom mechanism 4 are the same as above); the first degree of freedom mechanism 1 is the first degree of freedom of the mechanical arm and needs to withstand a large torque. A motor with a larger torque is selected, preferably the LSG-110 motor with a rated torque of 87N.m ​​and a first degree of freedom rotation angle of 0-360°.

[0054] Combine Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 The second degree of freedom mechanism 2 includes a second degree of freedom support 2-1, a second deep groove ball bearing 2-2, a second connecting shaft 2-3, and a second motor 2-4.

[0055] Among them, the upper end of the second degree of freedom support 2-1 is designed to be a multi-tooth ring type, the second deep groove ball bearing 2-2 is located in the circular ring formed by the multi-tooth ring, the support teeth are connected to the outer ring of the second deep groove ball bearing 2-2, the outer ring of the upper end of the second connecting shaft 2-3 is connected to the inner ring of the second deep groove ball bearing 2-2, the top of the second connecting shaft 2-3 is fixedly connected to the third degree of freedom support 3-1 by screws, and the lower end is fixedly connected to the second motor 2-4 by screws. The second motor 2-4 is fixedly connected to the second degree of freedom support 2-1 by bolts, and the lower end of the second degree of freedom support 2-1 is fixedly connected to the first connecting shaft 1-3 by screws. The second degree of freedom mechanism 2, as the front degree of freedom of the robotic arm, also needs to withstand a large torque, and a motor with a large torque is also selected. The LSG-110 motor is selected with a rated torque of 87N.m, and the second degree of freedom rotation angle is 0-180°.

[0056] Combine Figure 1 、 Figure 4 、 Figure 5 、 Figure 6 The third degree of freedom mechanism 3 includes a third degree of freedom support 3-1, a third deep groove ball bearing 3-2, a third connecting shaft 3-3, and a third motor 3-4 in sequence.

[0057] The upper end of the third degree of freedom support 3-1 is designed to be a multi-tooth ring type, the third deep groove ball bearing 3-2 is located in the circular ring formed by the multi-tooth ring, the support teeth are connected to the outer ring of the third deep groove ball bearing 3-2, the outer ring of the upper end of the third connecting shaft 3-3 is connected to the inner ring of the third deep groove ball bearing 3-2, the top of the third connecting shaft 3-3 is fixedly connected to the fourth degree of freedom support 4-1 by screws, and the lower end is fixedly connected to the third motor 3-4 by screws, the third motor 3-4 is fixedly connected to the third degree of freedom support 3-1 by bolts, and the lower end of the third degree of freedom support 3-1 is fixedly connected to the second connecting shaft 2-3 by screws. The third degree of freedom mechanism 3 is the rear degree of freedom of the robotic arm and needs to withstand a smaller torque. A motor with a smaller torque is selected, and the LSG-80 motor is preferably selected with a rated torque of 31N.m. The third degree of freedom rotation angle is 0-360°.

[0058] Combine Figure 1 、 Figure 5 、 Figure 6 、 Figure 7 The fourth degree of freedom mechanism 4 includes a fourth degree of freedom support 4-1, a fourth deep groove ball bearing 4-2, a fourth connecting shaft 4-3, and a fourth motor 4-4.

[0059] Among them, the upper end of the fourth degree of freedom support 4-1 is designed to be a multi-tooth ring type, the fourth deep groove ball bearing 4-2 is located in the circular ring formed by the multi-tooth ring, the support teeth are connected to the outer ring of the fourth deep groove ball bearing 4-2, the outer ring of the upper end of the fourth connecting shaft 4-3 is connected to the inner ring of the fourth deep groove ball bearing 4-2, the top of the fourth connecting shaft 4-3 is fixedly connected to the buffer gun mount support 5-3 by screws, and the lower end is fixedly connected to the fourth motor 4-4 by screws. The fourth motor 4-4 is fixedly connected to the fourth degree of freedom support 4-1 by bolts, and the lower end of the fourth degree of freedom support 4-1 is fixedly connected to the third connecting shaft 3-3 by screws. The fourth degree of freedom mechanism 4 is the end of the robotic arm and needs to withstand a smaller torque. A motor with a smaller torque is also selected. The LSG-80 motor is selected with a rated torque of 31N.m and a fourth degree of freedom rotation angle of 0-180°.

[0060] Combine Figure 1 、 Figure 6 、 Figure 7 、 Figure 8 The buffer clamping mechanism 5 includes a buffer gun rack slide 5-1, a gas spring 5-2, a buffer gun rack support 5-3, a stopper 5-4, a hinge connecting block 5-5, a torsion spring hinge 5-6, a horizontal clamping block 5-7, a vertical clamping block 5-8, a second compression spring 5-9, a clamping support 5-10, and a stopper switch 5-11.

[0061] Among them, the buffer gun mount support 5-3 is connected to the buffer gun mount slide 5-1 by bolts through the gas spring 5-2 to form a moving pair, which preliminarily forms a buffer mechanism. Most of the recoil generated when the firearm is fired is the recoil parallel to the axis of the barrel. The buffer gun mount slide 5-1 is parallel to the axis of the clamped firearm barrel, and the compression axis direction of the gas spring 5-2 is also parallel to the axis of the firearm barrel. Therefore, the buffer mechanism can offset most of the recoil generated when the firearm is fired, which is more conducive to continuous and stable shooting of the firearm.

[0062] Among them, the clamping support 5-10 is fixedly connected to the buffer gun frame sliding member 5-1 by screws, and the position can be adjusted through different hole positions. The second compression spring 5-9 is clamped between the vertical clamping block 5-8 and the clamping support 5-10 to form a moving pair. The vertical clamping block 5-8 is fixedly connected to the block switch 5-11 by screws. The second compression spring 5-9 is clamped between the horizontal clamping block 5-7 and the clamping support 5-10 to form a moving pair. The horizontal clamping block 5-7 is connected to the hinge by screws The block 5-5 is fixedly connected, the hinge connection block 5-5, the torsion spring hinge 5-6, and the stopper 5-4 are fixedly connected by screws. The fixed position of the clamping support 5-10 on the buffer gun frame slide 5-1 can be adjusted according to different firearm types. When the firearm is not installed, the vertical clamping block 5-8 and its compression spring are in an extended state, the stopper switch 5-11 and the clamping support 5-10 are fitted, the blocks at both ends of the block switch 5-11 support the block 5-4, and the hinge connection block 5-5 , torsion spring hinge 5-6, block 5-4 are in parallel state, horizontal clamping block 5-7 and its compression spring are in compressed state, when the firearm is put into the fixture, the side of the firearm fits with the vertical clamping block 5-8, and it is pushed in continuously, the vertical clamping block 5-8 and its compression spring are in compressed state, the block switch 5-11 and the clamping support 5-10 are separated, the blocks at both ends of the block switch 5-11 are also separated from the block 5-4, and under the action of the compression spring, the horizontal clamping block 5-7 is extended , adaptively fits the upper and lower end surfaces of the firearm to complete the adaptive clamping of the firearm; when disassembling, just pull the two hinge connecting blocks 5-5 to compress the horizontal clamping block 5-7 and its compression spring, and the blocks at both ends of the block switch 5-11 support the block 5-4, and the hinge connecting block 5-5, torsion spring hinge 5-6, and block 5-4 are in a parallel state, and the firearm can be easily taken out; the buffer gun rack support 5-3 is fixedly connected to the top of the fourth connecting shaft 4-3 by screws.

[0063] Combine Figure 1 、 Figure 7 、 Figure 8 The electric firing mechanism 6 includes a firing rod 6-1, a connecting piece 6-2, and an electric push rod 6-3.

[0064] Among them, the firing rod 6-1 is connected to the buffer gun frame sliding part 5-1 through screws to form a rotating pair, and the electric push rod 6-3 is connected to the firing rod 6-1 and the electric push rod 6-3 through the connecting part 6-2. The firing rod 6-1 is directly fitted with the firearm trigger, and the firing rod 6-1 is pulled by the electronically controlled electric push rod 6-3 to realize the electronically controlled firing of the firearm.

Claims

1. A small-arm span electric shock wearable weapon arm with an adjustable base, characterized in that: It comprises a back frame (8), a four-degree-of-freedom mechanical arm mechanism connected to the back frame (8) via a slide rail, and a gun frame mechanism connected to the end of the mechanical arm mechanism; The four-degree-of-freedom robotic arm mechanism comprises a robotic arm base (7), a first degree-of-freedom mechanism (1), a second degree-of-freedom mechanism (2), a third degree-of-freedom mechanism (3), and a fourth degree-of-freedom mechanism (4); The gun rack mechanism comprises a buffer clamping mechanism (5) and an electric firing mechanism (6), wherein the buffer clamping mechanism (5) is used for clamping the firearm and providing buffering during firing, and the electric firing mechanism (6) is used for electrically firing the firearm; The gun clamping mechanism comprises two groups symmetrically arranged on a buffer gun frame slide (5-1), each group of the gun clamping mechanism comprising upper and lower blocks (5-4), upper and lower hinge connecting blocks (5-5), upper and lower torsion spring hinges (5-6), upper and lower vertical clamping blocks (5-7), a transverse clamping block (5-8), a plurality of second compression springs (5-9), a U-shaped clamping support (5-10) and a block switch (5-11); The middle part of the clamping support (5-10) is fixedly connected to the end of the buffer gun frame sliding member (5-1) by screws, the upper and lower vertical clamping blocks (5-7) are respectively sandwiched between the clamping support (5-10) and the second compression spring (5-9) is fixedly connected to the hinge connecting block (5-5) by screws to form a moving pair, the connecting rod of the transverse clamping block (5-8) passes through the second compression spring and the clamping support and is fixedly connected to the block switch (5-11) by screws, the hinge connecting block (5-5), the torsion spring hinge (5-6) and the block (5-4) are fixedly connected by screws, and the rotation angle of the hinge connecting block (5-5) and the block (5-4) relative to the torsion spring hinge (5-6) is maximum 180 degrees inside.

2. The weapon arm according to claim 1, characterized in that The back frame (8) is provided with two rows of slide rails, and the slide rails are provided with continuous and evenly distributed holes. The robot arm base (7) includes a base body and a base locking mechanism arranged on both sides of the base body for realizing the movement and locking of the robot arm base (7) on the back frame slide rails. The first degree of freedom mechanism (1) is fixed on the base body.

3. The weapon arm according to claim 2, characterized in that The base locking mechanism comprises a blocking key (7-1), a slider seat (7-2), a first compression spring (7-3) and a key (7-4); The stop key (7-1) is provided with protrusions that match the holes evenly distributed on the slide rail, and is also provided with a connecting block that passes through the slider seat (7-2) and is connected to the key (7-4). A first compression spring (7-3) is provided between the key (7-4) and the slider seat (7-2). By pressing the key (7-4), the connecting block slides in the slider seat (7-2) and the protrusions are separated from the holes on the slide rail, thereby realizing the sliding of the base on the slide rail. When sliding to a desired position, the key (7-4) is released, and the protrusions on the stop key (7-1) enter the holes of the slide rail, thereby realizing the fixing of the position of the base on the slide rail.

4. The weapon arm according to claim 3, characterized in that The first degree of freedom mechanism (1) comprises a first degree of freedom support (1-1), a first deep groove ball bearing (1-2), a first connecting shaft (1-3) and a first motor (1-4); The upper end of the first degree of freedom support (1-1) is designed to be a multi-tooth embracing type, the first deep groove ball bearing (1-2) is located in a circular ring formed by the multi-tooth embracing, the support teeth are connected to the outer ring of the first deep groove ball bearing (1-2), the outer ring of the upper end of the first connecting shaft (1-3) is connected to the inner ring of the first deep groove ball bearing (1-2), the top end of the first connecting shaft (1-3) is fixedly connected to the second degree of freedom support (2-1) by screws, the lower end is fixedly connected to the first motor (1-4) by screws, the first motor (1-4) is fixedly connected to the first degree of freedom support (1-1) by bolts, and the lower end of the first degree of freedom support (1-1) is fixedly connected to the base body by bolts; The rotation direction of the first connecting shaft (1-3) is the normal direction of the robot arm base, and the first degree of freedom rotation angle is 0-360 degrees.

5. The weapon arm according to claim 4, characterized in that The second degree of freedom mechanism (2) comprises a second degree of freedom support (2-1), a second deep groove ball bearing (2-2), a second connecting shaft (2-3), and a second motor (2-4); The upper end of the second degree of freedom support (2-1) is designed to be a multi-toothed ring-shaped type, the second deep groove ball bearing (2-2) is located in a circular ring formed by the multi-toothed ring, the support teeth are connected to the outer ring of the second deep groove ball bearing (2-2), the outer ring of the upper end of the second connecting shaft (2-3) is connected to the inner ring of the second deep groove ball bearing (2-2), the top end of the second connecting shaft (2-3) is fixedly connected to the third degree of freedom support (3-1) by screws, the lower end is fixedly connected to the second motor (2-4) by screws, the second motor (2-4) is fixedly connected to the second degree of freedom support (2-1) by bolts, and the lower end of the second degree of freedom support (2-1) is connected to the first connecting shaft (1-3) by screws; The rotation direction of the second connecting rotating shaft (2-3) is perpendicular to the rotation direction of the first connecting rotating shaft (1-3), and the second degree of freedom rotation angle is 0-180°.

6. The weapon arm according to claim 5, characterized in that The third degree of freedom mechanism (3) comprises in sequence a third degree of freedom support (3-1), a third deep groove ball bearing (3-2), a third connecting shaft (3-3) and a third motor (3-4); The upper end of the third degree of freedom support (3-1) is designed to be a multi-toothed ring-shaped type, the third deep groove ball bearing (3-2) is located in a ring formed by the multi-toothed ring, the support teeth are connected to the outer ring of the third deep groove ball bearing (3-2), the outer ring of the upper end of the third connecting shaft (3-3) is connected to the inner ring of the third deep groove ball bearing (3-2), the top end of the third connecting shaft (3-3) is fixedly connected to the fourth degree of freedom support (4-1) by screws, the lower end is fixedly connected to the third motor (3-4) by screws, the third motor (3-4) is fixedly connected to the third degree of freedom support (3-1) by bolts, and the lower end of the third degree of freedom support (3-1) is fixedly connected to the second connecting shaft (2-3) by screws; The rotation direction of the third connecting rotating shaft (3-3) is perpendicular to the rotation direction of the second connecting rotating shaft (2-3), and the rotation angle of the third degree of freedom is 0-360°.

7. The weapon arm according to claim 6, characterized in that The fourth degree of freedom mechanism (4) comprises a fourth degree of freedom support (4-1), a fourth deep groove ball bearing (4-2), a fourth connecting shaft (4-3) and a fourth motor (4-4); The upper end of the fourth degree of freedom support (4-1) is designed to be a multi-tooth embracing type, the fourth deep groove ball bearing (4-2) is located in a circular ring formed by the multi-tooth embracing, the support teeth are connected to the outer ring of the fourth deep groove ball bearing (4-2), the outer ring of the upper end of the fourth connecting shaft (4-3) is connected to the inner ring of the fourth deep groove ball bearing (4-2), the top end of the fourth connecting shaft (4-3) is fixedly connected to the buffer gun holder support (5-3) by screws, the lower end is fixedly connected to the fourth motor (4-4) by screws, the fourth motor (4-4) is fixedly connected to the fourth degree of freedom support (4-1) by bolts, and the lower end of the fourth degree of freedom support (4-1) is fixedly connected to the third connecting shaft (3-3) by screws; The rotation direction of the fourth connecting rotating shaft (4-3) is perpendicular to the rotation direction of the third connecting rotating shaft (3-3), and the fourth degree of freedom rotation angle is 0-180°.

8. The weapon arm according to claim 7, characterized in that The buffer clamping mechanism (5) comprises a buffer gun rack sliding member (5-1), a gas spring (5-2), a buffer gun rack support (5-3), a guide rail arranged on the buffer gun rack support for sliding of the buffer gun rack sliding member, and a firearm clamping mechanism; The buffer gun mount support (5-3) is connected to the buffer gun mount sliding member (5-1) by bolts via the gas spring (5-2) to form a moving pair, thereby preliminarily forming a buffer mechanism. The buffer gun mount sliding member (5-1) is parallel to the axis of the clamped firearm barrel, and the compression axis of the gas spring (5-2) is parallel to the axis of the firearm barrel. The firearm is connected to a relatively integral body via a firearm clamping mechanism and a buffer gun frame slide (5-1); when the firearm is fired, the buffer gun frame slide (5-1) clamping the firearm compresses a gas spring (5-2) and slides within a guide rail on a buffer gun frame support, thereby buffering the recoil force generated by the firing of the firearm.

9. The weapon arm according to claim 8, characterized in that The electric triggering mechanism (6) comprises a triggering rod (6-1), a connecting piece and an electric push rod (6-3); The firing rod (6-1) is connected to the buffer gun frame sliding member (5-1) through a screw to form a rotating pair. The two ends of the electric push rod (6-3) are respectively connected to the firing rod (6-1) and the electric push rod (6-3) through connecting members. The end of the firing rod (6-1) is provided with a cylindrical part that directly fits with the firearm trigger. The firing rod (6-1) is pulled by the electrically controlled electric push rod (6-3) to pull the trigger, thereby realizing the electronically controlled firing of the firearm.

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