A pan / tilt mechanism for mounting firearms

Abstract

The present invention discloses a pan-tilt mechanism for mounting firearms, which is composed of a firearm clamping moving body, a buffer spring, a recoil buffer lower frame, a pan-tilt suspension arm and a pan-tilt horizontal azimuth adjustment mechanism; the pan-tilt horizontal azimuth adjustment mechanism is used to connect the pan-tilt mechanism with a drone and adjust the azimuth angle of the pan-tilt mechanism; the pan-tilt suspension arm is used to connect the pan-tilt horizontal azimuth adjustment mechanism and the recoil buffer lower frame and adjust the pitch angle of the pan-tilt mechanism; the firearm clamping moving body is used to clamp the firearm and is slidably connected with the recoil buffer lower frame; the buffer spring is arranged between the firearm clamping movement and the recoil buffer lower frame before and after the firearm clamping movement, and is used to buffer the recoil of the firearm firing. The present invention solves the problems of low striking effect of firearms carried by drones, reducing recoil, adjusting the pitch and horizontal angles of the firearms and aiming.

Description

Technical Field

[0001] The invention belongs to the field of unmanned aerial vehicles, and in particular relates to a pan-tilt mechanism of an unmanned aerial vehicle for mounting firearms, in particular a shotgun. Background Art

[0002] Drones are widely used in military and civilian fields due to their small size, easy take-off and landing, low cost, strong maneuverability, and simple operation. In the military field, drones can perform reconnaissance, target drones, and carry a variety of weapons for combat missions; in the civilian field, there are small drones that can be used for aerial photography and light formation performances, and there are also medium and large drones that can be used for agricultural spraying, fire fighting, equipment inspection and detection, express delivery, and other tasks.

[0003] As people pay more attention to reducing casualties during missions, unmanned combat weapons have emerged. Such weapons can go deep into some complex and dangerous battlefield environments to perform some anti-terrorism and anti-riot tasks. Currently, many units have launched research on weapons carried by drones. Most of the weapons carried are rifles, submachine guns and other weapons that require high design accuracy, so the requirements for the gimbal structure are high, the design and development costs are also high, and the combat effectiveness needs to be demonstrated. Therefore, it is also possible to develop a drone gimbal structure that carries some area-killing weapons such as some firearms. The firearms carried by this type of gimbal structure can replace the corresponding ammunition according to different combat scenarios, and the application range is wider. It is believed that it can have better combat effects. Summary of the invention

[0004] The purpose of the present invention is to provide a drone gimbal structure for mounting firearms, so as to solve the problems of low striking effect of firearms mounted on drones, reduce recoil, adjust the pitch and horizontal angle of firearms and aim.

[0005] The technical solution to achieve the purpose of the present invention is:

[0006] A pan / tilt mechanism for mounting firearms, comprising a firearm clamping moving body, a buffer spring, a recoil buffer lower frame, an angle adjustment motor, a pan / tilt suspension arm and a pan / tilt horizontal azimuth adjustment mechanism;

[0007] The pan-tilt horizontal azimuth adjustment mechanism is used to connect the pan-tilt mechanism to the drone and adjust the azimuth angle of the pan-tilt mechanism;

[0008] The pan / tilt suspension arm is used to connect the pan / tilt horizontal azimuth adjustment mechanism and the recoil buffer lower frame, and to adjust the pitch angle of the pan / tilt mechanism;

[0009] The firearm clamping moving body is used to clamp the firearm and is slidably connected to the recoil buffer lower frame;

[0010] The buffer spring is arranged between the front and rear of the firearm clamping movement and the recoil buffer lower frame, and is used to buffer the recoil force of the firearm firing.

[0011] Compared with the prior art, the present invention has the following significant advantages:

[0012] (1) The pan head has a simple structure and is easy to process and maintain. The cooperation between the guide tube and the guide rod limits the back and forth movement of the moving body of the firearm in the axial direction of the guide rod.

[0013] (2) The structural space is reasonably arranged without redundant structures, which makes it convenient to load and fire the gun, and the overall weight is light;

[0014] (3) By installing a spring, the impact of recoil on the mechanism is reduced;

[0015] (4) The angle is controlled by directly connecting the motor to the lower frame and the boom, thus simplifying the number of required parts;

[0016] (5) By setting a pitch limit protrusion on the boom, a safety limit is implemented at the pitch angle mechanical device structure design level to ensure the safety of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the general assembly drawing of the gimbal structure;

[0018] Figure 2 It is the assembly diagram of the gun holder;

[0019] Figure 3 This is the assembly diagram of the recoil buffer lower frame;

[0020] Figure 4 This is a picture of the PTZ crane arm;

[0021] Figure 5 This is the mechanical limit principle diagram;

[0022] Figure 6 This is the assembly diagram of the gimbal horizontal position adjustment mechanism. DETAILED DESCRIPTION

[0023] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0024] Combination Figure 1 The pan-tilt mechanism for mounting a certain firearm described in the present invention is composed of a firearm clamping moving body 1, a buffer spring 2, a recoil buffer lower frame 3, an angle adjustment motor 4, a pan-tilt arm 5 and a pan-tilt horizontal position adjustment mechanism 6.

[0025] Combination Figure 2The gun clamping moving body is composed of a gun barrel clamping member 1-1, a clamp front seat 1-2, a sliding guide tube 1-3 and a gun stock clamping member 1-4. The clamp front seat 1-2 is connected to the gun stock clamping member 1-4 through two parallel sliding guide tubes 1-3, and the gun barrel clamping member 1-1 is connected to the clamp front seat 1-2 through a bolt. By adjusting the bolt, the gun barrel clamping member 1-1 can clamp the gun barrel at a position parallel to the two sliding guide tubes 1-3; at the same time, by adjusting the bolt, the two gun stock clamping members 1-4 can clamp the gun stock. A buffer spring 2 is provided between the gun stock clamping member 1-4 and the recoil buffer lower frame 3, and between the clamp front seat 1-2 and the recoil buffer lower frame 3. The buffer spring 2 is sleeved on the guide rod 3-2. After the clamping is completed, this mechanism and the gun serve as a moving body under the action of the buffer spring after the gun is fired.

[0026] Combination Figure 1 , Figure 2 , Figure 3 The recoil buffer lower frame 3 is composed of a lower frame outer plate 3-1, a guide rod 3-2, a lower frame plate connecting piece 3-3 and a lower frame inner plate 3-4. The lower frame plate connecting piece 3-3 serves to connect the lower frame outer plate 3-1 and the lower frame inner plate 3-4 to form an overall lower frame frame. The two guide rods 3-2 are respectively connected to the lower frame outer plate 3-1 and the lower frame inner plate 3-4. The sliding guide tube 1-3 is coaxially assembled with the guide rod 3-2. The buffer spring 2 is located on both sides of the gun clamping moving body 1, and one end of the four buffer springs 2 is fixedly connected to the inner edge of the lower frame plate. The buffer spring 2 has a certain pre-pressure to prevent the gun clamping moving body 1 from sliding in a static state. After the gun is fired, the gun clamping moving body 1 slides back and forth along the direction of the guide rod 3-2 due to the recoil force under the action of the buffer spring 2. The recoil buffer lower frame 3 weakens the gun recoil force through this device.

[0027] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 The pan-tilt suspension arm 5 is composed of a pan-tilt inner arm 5-1 and a pan-tilt outer arm 5-3. The pan-tilt outer arm 5-3 is provided with a mounting hole and a wiring hole for the angle adjustment motor 4. A gap is left between the pan-tilt inner arm 5-1 and the pan-tilt outer arm 5-3 to cooperate with the lower frame inner plate 3-4. The angle adjustment motor 4 is connected to the lower frame inner plate 3-4 through the corresponding circular hole of the pan-tilt outer arm 5-3. Subsequently, the pitch angle of the recoil buffer lower frame 3 is adjusted by adjusting the rotation of the rotor of the angle adjustment motor 4.

[0028] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5, the key structure of the mechanical limit design is the limit protrusion 5-2. A limit plate shoulder is provided on the inner plate of the lower frame. The cylindrical limit protrusion 5-2 is taken at an appropriate position of the intersection of the plane parallel to the upper surface of the pan-tilt outer arm 5-3 and the pan-tilt inner arm 5-1 through the angle adjustment motor 4 center and the bottom radius of the cylindrical limit protrusion 5-2 is taken as b, the center distance between the limit protrusion 5-2 and the concentric circle position of the motor axis of the lower frame inner plate 3-4 is taken as c, the vertical distance from the concentric circle of the motor axis of the lower frame inner plate 3-4 to the limit plate shoulder is a, and at the designed pitch limit position, the angle between the boom 5 and the recoil buffer lower frame 3 is set to θ. According to the trigonometric function relationship:

[0029]

[0030] According to the designed pitch limit angle θ, the appropriate corresponding lengths of a, b, and c can be obtained, so as to perform pitch angle insurance limit in a mechanical structure manner to ensure the safety of the drone in the shooting state.

[0031] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 , the gimbal horizontal azimuth adjustment mechanism 6 is composed of a horizontal motor mounting plate 6-1, a connecting column 6-2, a connecting upper plate 6-3 and a fuselage connecting piece 6-4. The horizontal adjustment motor is installed through the reserved mounting hole of the horizontal motor mounting plate 6-1, and the connecting column 6-2 serves to connect the upper plate 6-3 and the horizontal motor mounting plate 6-1 and reserve space for the angle adjustment motor 4. The connecting upper plate 6-3 is also connected to two fuselage connecting pieces 6-4, and the fuselage connecting piece 6-4 plays the role of connecting the gimbal and the drone. The rotor of the horizontal adjustment motor is connected to the gimbal outer arm 5-3 through the circular hole of the horizontal motor mounting plate 6-1, and the horizontal angle adjustment of the gun clamped by the gimbal mechanism is achieved by adjusting the rotation angle of the rotor.

Claims

1. A pan / tilt mechanism for mounting a firearm, characterized in that: It is composed of a gun clamping moving body, a buffer spring, a recoil buffer lower frame, an angle adjustment motor, a pan head suspension arm and a pan head horizontal azimuth adjustment mechanism; The pan-tilt horizontal azimuth adjustment mechanism is used to connect the pan-tilt mechanism to the drone and adjust the azimuth angle of the pan-tilt mechanism; The pan / tilt suspension arm is used to connect the pan / tilt horizontal azimuth adjustment mechanism and the recoil buffer lower frame, and to adjust the pitch angle of the pan / tilt mechanism; The firearm clamping moving body is used to clamp the firearm and is slidably connected to the recoil buffer lower frame; The buffer spring is arranged between the front and rear of the gun clamping moving body and the recoil buffer lower frame, and is used to buffer the recoil force of the gun firing; The gimbal suspension arm is composed of a gimbal inner arm and a gimbal outer arm; a gap is left between the gimbal inner arm and the gimbal outer arm to match the angle with the lower frame inner plate; the angle adjustment motor is connected to the lower frame inner plate through the corresponding circular hole of the gimbal outer arm, and is used to achieve the pitch angle adjustment of the recoil buffer lower frame; The outer arm of the gimbal is provided with a limit protrusion, and the inner plate of the lower frame is provided with a limit plate shoulder, which cooperates to set the pitch limit angle θ, that is, the angle between the boom and the lower frame of the recoil buffer, and satisfies: a is the vertical distance from the concentric circle of the motor axis of the inner plate of the lower frame to the plate shoulder, b is the bottom radius of the cylindrical limiting protrusion on the outer arm, and c is the center distance between the limiting protrusion and the concentric circle position of the motor axis of the inner plate of the lower frame.

2. The pan / tilt mechanism for mounting a firearm according to claim 1, characterized in that: The firearm clamping moving body is composed of a barrel clamping piece, a clamp front seat, a sliding guide tube and a butt clamping piece; The front seat of the clamp is connected to the gun stock clamp through two parallel sliding guide tubes, the barrel clamp is connected to the front seat of the clamp, the barrel clamp is used to clamp the gun barrel; the gun stock clamp is used to clamp the gun stock.

3. The pan / tilt mechanism for mounting a firearm according to claim 2, characterized in that: The recoil buffer lower frame is composed of a lower frame outer plate, a guide rod, a lower frame plate connecting piece and a lower frame inner plate; The outer plate of the lower frame is connected to the inner plate of the lower frame through a lower frame plate connecting piece; two guide rods are respectively connected to the outer plate of the lower frame and the inner plate of the lower frame; the sliding guide tube is coaxially assembled with the guide rod; buffer springs are provided between the butt clamp and the recoil buffer lower frame, and between the front seat of the clamp and the recoil buffer lower frame, and the buffer springs are sleeved on the guide rods.

4. The pan / tilt mechanism for mounting a firearm according to claim 1, characterized in that: The gimbal horizontal azimuth adjustment mechanism is composed of a horizontal motor mounting plate, a connecting column, a connecting upper plate and a fuselage connecting piece; the horizontal adjustment motor is installed through the reserved mounting hole of the horizontal motor mounting plate, and the connecting column serves to connect the upper plate and the horizontal motor mounting plate and reserve space for the horizontal adjustment motor; the connecting upper plate is connected to two fuselage connecting pieces, and the fuselage connecting pieces are used to connect the gimbal mechanism to the drone.

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