A linkage mechanism for a single motor to pull the safety catch and cock the hammer of a gun and a driving method thereof

Abstract

The present application relates to the mechanical technical field, specifically a kind of single motor can pull out gun safety catch and the linkage mechanism of gun mechanism and its driving method, including with driving mechanism connection driving gear;Gun rack, the gun rack is equipped with a section of toothless structure and driving gear cooperation, to make the driving gear when positive rotation and gun rack not mesh, when reverse and gun rack mesh;With driving gear connection follow-up rod;Open with rotary groove follow-up gear, the follow-up rod and follow-up gear rotary groove cooperation connection;Still include safety catch gear and gun rack gear, the safety catch gear and follow-up gear mesh, the gun rack gear and gun rack mesh.The present application compared with prior art, its advantages are that: the overall structure of the present application is relatively simple, high reliability, it is convenient for operator to operate while being convenient for maintenance overhaul;The linkage mechanism of the present application has the characteristics such as structure simplification, high reliability, wide applicability.

Description

Technical Field

[0001] This invention relates to the field of mechanical technology, specifically to a linkage mechanism and driving method for a single-motor movable gun safety bolt and firing mechanism. Background Technology

[0002] With the continuous advancement of technology, the application of armed combat robots is experiencing significant development. In the past, the armed operation of robots might have required operators to perform multiple independent steps, which could reduce combat response speed and the robot's combat effectiveness. Modern armed combat robots increasingly adopt autonomous or semi-autonomous operation modes, enabling them to perform tasks more flexibly. The combination of motor control and mechanical structure offers a solution to this problem. By introducing motor control, the continuity of safety state switching and firing functions can be achieved, improving the overall system efficiency and safety.

[0003] In existing technologies, safety switching and firing operations often require separate steps. This can lead to operational inefficiencies and affect the robot's reaction speed at critical moments. Furthermore, traditional mechanical designs often require numerous components, potentially increasing the robot's structural complexity and limiting its compactness and reliability. In the development of modern military technology, armed combat robots, as an important piece of equipment, require continuous innovation to meet diverse operational needs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a linkage mechanism for pulling the safety bolt and firing mechanism that can improve the shooting efficiency and accuracy of robots and further enhance the practicality and combat effectiveness of armed strike robots in modern military operations.

[0005] To achieve the above objectives, a linkage mechanism for a single-motor operable safety bolt and firing mechanism is designed, comprising: a drive gear connected to a drive mechanism; a firing rack with a toothless section that meshes with the drive gear so that the drive gear is not engaged with the firing rack when rotating forward and engages with it when rotating backward; an elastic element connected to one end of the firing rack; a follower rod connected to the drive gear; a follower gear with a rotation groove, the follower rod engaging with the rotation groove of the follower gear; and a safety bolt gear and a firing gear. The safety bolt gear meshes with the follower gear, and the firing gear meshes with the firing rack. The safety bolt gear connects to the safety bolt actuation mechanism, and the firing gear connects to the firing mechanism.

[0006] The above invention also has the following preferred technical solutions:

[0007] 1. The follower gear is semi-circular or sector-shaped.

[0008] 2. The follower rod can move along the circular arc path of the follower gear's rotary groove.

[0009] 3. The drive gear is controlled by a single motor, and the power is provided by the rotation of the single motor.

[0010] 4. When the drive gear rotates forward, it idles in the toothless section of the paddle rack. When the drive gear idles, it touches the last tooth of the paddle rack and moves away from the drive gear. The elastic element provides tension to reset the displacement caused by the contact. When the drive gear rotates in reverse, it drives the last tooth of the paddle rack to move closer to the drive gear so that the drive gear meshes with the paddle rack.

[0011] 5. The safety bolt actuation mechanism controls the safety mode of the firearm according to the rotation angle of the safety bolt gear, and the safety modes include single-fire, burst fire, and stop fire.

[0012] 6. The gun-pulling mechanism includes a gun-pulling rod, a gun-pulling rod position adjustment bolt, and a gun-pulling rod angle adjustment disc. One end of the gun-pulling rod angle adjustment disc is connected to the gun-pulling gear, and the other end of the gun-pulling rod angle adjustment disc has an elongated hole. A threaded hole is also provided on one side of the elongated hole. The gun-pulling rod is sleeved in the elongated hole. The gun-pulling rod position adjustment bolt is threadedly connected to the threaded hole and then connected to the gun-pulling rod. The position of the gun-pulling rod is adjusted by adjusting the position of the gun-pulling rod position adjustment bolt.

[0013] A driving method is also designed that employs the above-mentioned linkage mechanism between a single-motor movable gun safety bolt and a firing mechanism, the specific driving method being as follows:

[0014] a. When the drive gear rotates forward, it drives the follower rod to move along the rotary groove of the follower gear in a forward circular arc path. When the follower rod reaches one edge of the rotary groove, it drives the follower gear to move forward. The follower gear then drives the safety bolt gear to rotate. After the safety bolt gear rotates to a set angle, the safety bolt switches to the safety state. At this time, the drive gear is driven to reverse, driving the follower rod to move in a reverse circular arc path. The follower rod moves in the rotary groove, and the follower gear is stationary. The drive gear reverses and drives the pistol rack to move. The pistol rack drives the pistol gear to rotate. The pistol gear completes the firing through the pistol firing mechanism.

[0015] b. After firing, the drive gear rotates clockwise, driving the pistol rack to move until the drive gear and pistol rack disengage. The follower rod moves along the drive gear in a positive arc path, driving the follower gear to rotate. After the follower gear rotates once, it drives the safety pin gear to rotate, causing the safety pin to switch to the safe state, thus completing one firing cycle.

[0016] A single-motor linkage mechanism for the firing bolt and the firing mechanism is also designed, including a drive gear connected to a drive mechanism; a firing rack with a toothless section that meshes with the drive gear so that the drive gear is not engaged with the firing rack when rotating forward and is engaged with the firing rack when rotating backward; an elastic element connected to one end of the firing rack; a follower rod connected to the end face of the drive gear; a safety bolt connecting plate and a firing gear, wherein the safety bolt connecting plate has a rotation groove, the follower rod is connected to the rotation groove of the safety bolt connecting plate, and the follower rod can move along an arc path along the rotation groove of the safety bolt connecting plate; the firing gear meshes with the firing rack; the safety bolt connecting plate is used to connect the safety bolt actuation mechanism; the safety bolt actuation mechanism controls the safety mode of the firearm according to the rotation angle of the safety bolt connecting plate; the safety modes include single-fire, burst fire, and stop fire; and the firing gear is used to connect the firing mechanism.

[0017] The above invention also has the following preferred technical solutions:

[0018] 1. The drive gear is controlled by a single motor, and the power is provided by the rotation of the single motor.

[0019] 2. When the drive gear rotates forward, it idles in the toothless section of the paddle rack. When the drive gear idles, it touches the last tooth of the paddle rack and moves away from the drive gear. The elastic element provides tension to reset the displacement caused by the contact. When the drive gear rotates in reverse, it drives the last tooth of the paddle rack to move closer to the drive gear so that the drive gear meshes with the paddle rack.

[0020] 3. The gun-pulling mechanism includes a gun-pulling rod, a gun-pulling rod position adjustment bolt, and a gun-pulling rod angle adjustment disc. One end of the gun-pulling rod angle adjustment disc is connected to the gun-pulling gear, and the other end of the gun-pulling rod angle adjustment disc has an elongated hole. A threaded hole is also provided on one side of the elongated hole. The gun-pulling rod is sleeved in the elongated hole. The gun-pulling rod position adjustment bolt is threadedly connected to the threaded hole and then connected to the gun-pulling rod. The position of the gun-pulling rod is adjusted by adjusting the position of the gun-pulling rod position adjustment bolt.

[0021] A driving method is also designed that employs the second type of single-motor movable gun safety bolt and firing mechanism linkage mechanism described above. The driving method is as follows:

[0022] a. When the drive gear rotates forward, it drives the follower rod to move along the rotary groove of the safety bolt connecting plate in a forward arc path. When the follower rod reaches one edge of the rotary groove, it drives the safety bolt connecting plate to move forward. After the safety bolt connecting plate rotates to the set angle, the safety bolt switches to the safety state. At this time, the drive gear is reversed, driving the follower rod to move in a reverse arc path. The follower rod moves in the rotary groove, the safety bolt connecting plate is stationary, and the drive gear reverses to drive the pistol rack to move. The pistol rack drives the pistol gear to rotate, and the pistol gear completes the firing through the pistol firing mechanism.

[0023] b. After firing, the drive gear rotates forward, driving the pistol rack to move until the drive gear and pistol rack disengage. The follower rod then moves along the drive gear in a forward circular arc path, driving the safety pin connecting plate to rotate, causing the safety pin to switch to the safe state, thus completing one firing cycle.

[0024] Compared with the prior art, the advantages of this invention are:

[0025] 1. The overall structure of this invention is relatively simple, highly reliable, and easy for operators to operate and maintain;

[0026] 2. The present invention adopts a single-motor control scheme, which uses gear transmission and linkage mechanism to complete the release of the safety bolt and the firing operation in a smooth process without additional manual intervention, thereby improving the firing response speed and safety.

[0027] 3. The linkage mechanism of the present invention has the characteristics of simplified structure, high reliability and wide applicability. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall assembly of Embodiment 1 of the present invention;

[0029] Figure 2 This is a side view of Embodiment 1 of the present invention;

[0030] Figure 3 This is a rear view of Embodiment 1 of the present invention;

[0031] Figure 4 This is a top view of Embodiment 1 of the present invention;

[0032] Figure 5 This is a schematic diagram of the overall assembly of Embodiment 3 of the present invention;

[0033] Figure 6 This is a structural diagram of the driving gear in Embodiment 3 of the present invention;

[0034] Figure 7 This is a structural diagram of the present invention after the driving gear is hidden in Embodiment 3;

[0035] In the diagram: 1. Drive mechanism; 2. Drive gear; 3. Gun-pulling rack; 4. Elastic element; 5. Follower rod; 6. Rotary groove; 7. Follower gear; 8. Safety bolt gear; 9. Gun-pulling gear; 10. Safety bolt actuation mechanism; 11. Gun-pulling mechanism; 12. Gun-pulling lever; 13. Gun-pulling lever position adjustment bolt; 14. Gun-pulling lever angle adjustment disc; 15. Safety bolt connecting disc. Detailed Implementation

[0036] The invention will be further described below with reference to the accompanying drawings. The structure and principle of the invention are very clear to those skilled in the art. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention. Example 1

[0037] like Figure 1 As shown, the linkage mechanism of the present invention, which allows for the single-motor pull-out of the gun safety bolt and the firing mechanism, mainly includes a driving gear 2, a gun-pulling rack 3, a follower gear 7, a gun-pulling gear 9, and a safety bolt gear 8. Figure 1 , 2 As shown in Figures 3 and 4, the driving gear 2 is connected to the drive mechanism 1, which is a single motor. The driving gear 2 is controlled by the single motor, and power is provided by the rotation of the single motor. A follower rod 5 is provided on the driving gear 2, and a follower gear 7 coaxial with the driving gear 2 is also provided on the outer side of the driving gear 2. A rotary groove 6 is provided on the follower gear 7, and the follower rod 5 is engaged with the rotary groove 6 of the follower gear 7. The follower gear 7 is semi-circular or sector-shaped, and the follower rod 5 can move along an arc path along the rotary groove 6 of the follower gear 7.

[0038] The pistol rack 3 is located below the drive gear 2 and the pistol gear 9. One end of the pistol rack 3 has a toothless section that meshes with the drive gear 2, so that the drive gear 2 is not engaged with the pistol rack 3 when rotating forward, but engages with the pistol rack 3 when rotating backward. An elastic element 4 is provided on the outer side of the toothless section of the pistol rack 3. The other end of the pistol rack 3 meshes with the pistol gear 9. When the drive gear 2 rotates forward, it idles on the toothless section of the pistol rack 3. When the drive gear 2 idles, it touches the last tooth of the pistol rack 3 and moves away from the drive gear 2. The elastic element 4 provides a pulling force to reset the displacement caused by the contact. When the drive gear 2 rotates backward, it drives the last tooth of the pistol rack 3 to move closer to the drive gear 2, so that the drive gear 2 meshes with the pistol rack 3.

[0039] like Figure 1 , 3As shown in Figure 4, the safety pin gear 8 meshes with the follower gear 7. The safety pin gear 8 is used to connect to the safety pin actuation mechanism 10. The safety pin actuation mechanism 10 can control the safety mode of the firearm according to the rotation angle of the safety pin gear 8. The safety modes include single-shot, burst fire, and stop. The firing pin gear 9 is used to connect to the firing pin mechanism 11. The firing pin mechanism 11 includes a firing pin lever 12, a firing pin lever position adjustment bolt 13, and a firing pin lever angle adjustment disc 14. One end of the firing pin lever angle adjustment disc 14 is connected to the firing pin gear 9, and the other end of the firing pin lever angle adjustment disc 14 has an elongated hole. A threaded hole is also provided on one side of the elongated hole. The firing pin lever 12 is fitted into the elongated hole. The firing pin lever position adjustment bolt 13 is threaded into the threaded hole and then connected to the firing pin lever 12. The position of the firing pin lever is adjusted by adjusting the position of the firing pin lever position adjustment bolt 13. Example 2

[0040] A driving method for the linkage mechanism between the single-motor movable gun safety bolt and the firing mechanism of Embodiment 1 is also designed. The specific driving method is as follows:

[0041] a. When the drive gear 2 rotates forward, it drives the follower rod 5 to move along the rotary groove 6 of the follower gear 7 in a forward arc path. When the follower rod 5 reaches one edge of the rotary groove 6, it drives the follower gear 7 to move forward. The follower gear 7 then drives the safety bolt gear 8 to rotate. After the safety bolt gear 8 rotates to a set angle, the safety bolt switches to the safety state. At this time, the drive gear 2 is driven to reverse, driving the follower rod 5 to move in a reverse arc path. The follower rod 5 moves in the rotary groove, and the follower gear 7 is stationary. The drive gear 2 reverses and drives the gun-drawing rack 3 to move. The gun-drawing rack 3 drives the gun-drawing gear 9 to rotate. The gun-drawing gear 9 completes the firing through the gun-drawing mechanism 11.

[0042] b. After firing, the drive gear 2 rotates forward, driving the gun-pulling rack 3 to move until the drive gear 2 and the gun-pulling rack 3 disengage. The follower rod 5 moves along the drive gear 2 in a positive arc path, driving the follower gear 7 to rotate. After the follower gear 7 rotates once, it drives the safety bolt gear 8 to rotate, causing the safety bolt to switch to the safe state, thus completing one firing cycle. Example 3

[0043] like Figure 5 , 6As shown in Figure 7, this embodiment can be based on embodiment 1 by removing the follower gear 7 and the safety bolt gear 8. A protruding follower rod 5 is provided on the end face of the drive gear 2, and a safety bolt connecting plate 15 connected to the safety bolt actuation mechanism 10 is provided on the side of the safety bolt actuation mechanism 10 near the drive gear 2. A rotary groove 6 is opened on the end face of the safety bolt connecting plate 15. By installing the follower rod 5 in the rotary groove 6 and cooperating with the rotary groove 6, the rotation of the drive gear 2 will directly drive the safety bolt connecting plate 15 to rotate, thereby driving the safety bolt actuation mechanism 10 to rotate, thereby achieving the safety mode of the firearm directly controlled by the drive gear 2. Example 4

[0044] A driving method for the linkage mechanism between the single-motor movable gun safety bolt and the firing mechanism of Embodiment 3 described above is also designed. The specific driving method is as follows:

[0045] a. When the drive gear 2 rotates forward, it drives the follower rod 5 to move along the rotary groove 6 of the safety bolt connecting plate 15 in a forward arc path. When the follower rod 5 reaches one edge of the rotary groove 6, it drives the safety bolt connecting plate 15 to move forward. After the safety bolt connecting plate 15 rotates to the set angle, the safety bolt achieves the safety state switch. At this time, the drive gear 2 is driven to reverse, driving the follower rod 5 to move in a reverse arc path. The follower rod 5 moves in the rotary groove 6, and the safety bolt connecting plate 15 is stationary. The drive gear 2 reverses and drives the gun-drawing rack 3 to move. The gun-drawing rack 3 drives the gun-drawing gear 9 to rotate. The gun-drawing gear 9 completes the firing through the gun-drawing mechanism 11.

[0046] b. After firing, the drive gear 2 rotates forward, driving the gun-pulling rack 3 to move until the drive gear 2 and the gun-pulling rack 3 disengage. The follower rod 5 moves along the drive gear 2 in a positive arc path, driving the safety bolt connecting plate 15 to rotate, causing the safety bolt to switch to the safe state, thus completing one firing cycle.

[0047] The above description is merely a specific embodiment of the invention, and its implementation is not limited to the above content. The protection scope of the invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the technical scope disclosed in the invention, based on the technical solution and novel concept of the invention, should be covered within the protection scope of the invention.

Claims

1. A linkage mechanism between a single-motor operable gun safety bolt and a firing mechanism, characterized in that... include The drive gear connected to the drive mechanism; The gun-pulling rack has a toothless section that meshes with the drive gear, so that the drive gear does not mesh with the gun-pulling rack when rotating forward, but meshes with the gun-pulling rack when rotating in reverse. The elastic element connected to one end of the pistol rack, Follower rod connected to the driving gear; A follower gear with a rotary groove is provided, and the follower rod is connected to the rotary groove of the follower gear. It also includes a safety bolt gear and a gun-pulling gear. The safety bolt gear meshes with a follower gear, and the gun-pulling gear meshes with a gun-pulling rack. The safety bolt gear is used to connect the safety bolt actuation mechanism, and the gun-pulling gear is used to connect the gun-pulling mechanism.

2. The linkage mechanism between a single-motor operable gun safety bolt and a firing mechanism as described in claim 1, characterized in that... The follower gear is semi-circular or sector-shaped.

3. The linkage mechanism between a single-motor operable gun safety bolt and a firing mechanism as described in claim 1, characterized in that... The follower rod can move along the rotary groove of the follower gear in an arc path.

4. The linkage mechanism between a single-motor operable gun safety bolt and a firing mechanism as described in claim 1, characterized in that... The safety bolt actuation mechanism controls the safety mode of the firearm according to the rotation angle of the safety bolt gear. The safety modes include single-fire, burst fire, and stop fire.

5. A linkage mechanism for a single-motor operable gun safety bolt and firing mechanism, characterized in that... include The drive gear connected to the drive mechanism; The gun-pulling rack has a toothless section that meshes with the drive gear, so that the drive gear does not mesh with the gun-pulling rack when rotating forward, but meshes with the gun-pulling rack when rotating in reverse. The elastic element connected to one end of the pistol rack, Follower rod connected to the end face of the driving gear; It also includes a safety bolt connecting plate and a firing pin gear. The safety bolt connecting plate has a rotary groove, and the follower rod is connected to the rotary groove of the safety bolt connecting plate. The follower rod can move along an arc path along the rotary groove of the safety bolt connecting plate. The firing pin gear meshes with the firing pin rack. The safety bolt connecting plate is used to connect the safety bolt actuation mechanism. The safety bolt actuation mechanism controls the safety mode of the firearm according to the rotation angle of the safety bolt connecting plate. The safety modes include single-fire, burst fire, and stop. The firing pin gear is used to connect the firing pin mechanism.

6. The linkage mechanism between a single-motor operable gun safety bolt and a firing mechanism as described in claim 1 or 5, characterized in that... The drive gear is controlled by a single motor, which provides power through its rotation.

7. The linkage mechanism between a single-motor operable gun safety bolt and a firing mechanism as described in claim 1 or 5, characterized in that... When the drive gear rotates forward, it idles in the toothless section of the paddle rack. When the drive gear idles, it touches the last tooth of the paddle rack and moves away from the drive gear. The elastic element provides tension to reset the displacement caused by the contact. When the drive gear rotates in reverse, it drives the last tooth of the paddle rack to move closer to the drive gear so that the drive gear meshes with the paddle rack.

8. The linkage mechanism between a single-motor operable gun safety bolt and a firing mechanism as described in claim 1 or 5, characterized in that... The gun-pulling mechanism includes a gun-pulling rod, a gun-pulling rod position adjustment bolt, and a gun-pulling rod angle adjustment disc. One end of the gun-pulling rod angle adjustment disc is connected to the gun-pulling gear, and the other end of the gun-pulling rod angle adjustment disc has an elongated hole. A threaded hole is also provided on one side of the elongated hole. The gun-pulling rod is sleeved in the elongated hole. The gun-pulling rod position adjustment bolt is threadedly connected to the threaded hole and then connected to the gun-pulling rod. The position of the gun-pulling rod can be adjusted by adjusting the position of the gun-pulling rod position adjustment bolt.

9. A driving method employing the linkage mechanism between the single-motor movable gun safety bolt and the firing mechanism as described in claim 1, characterized in that... The specific driving method is as follows: a. When the drive gear rotates forward, it drives the follower rod to move along the rotary groove of the follower gear in a forward circular arc path. When the follower rod reaches one edge of the rotary groove, it drives the follower gear to move forward. The follower gear then drives the safety bolt gear to rotate. After the safety bolt gear rotates to a set angle, the safety bolt switches to the safety state. At this time, the drive gear is driven to reverse, driving the follower rod to move in a reverse circular arc path. The follower rod moves in the rotary groove, and the follower gear is stationary. The drive gear reverses and drives the pistol rack to move. The pistol rack drives the pistol gear to rotate. The pistol gear completes the firing through the pistol firing mechanism. b. After firing, the drive gear rotates clockwise, driving the pistol rack to move until the drive gear and pistol rack disengage. The follower rod moves along the drive gear in a positive arc path, driving the follower gear to rotate. After the follower gear rotates once, it drives the safety pin gear to rotate, causing the safety pin to switch to the safe state, thus completing one firing cycle.

10. A driving method employing the linkage mechanism between the single-motor pull-out gun safety bolt and the firing mechanism as described in claim 5, characterized in that... The specific driving method is as follows: a. When the drive gear rotates forward, it drives the follower rod to move along the rotary groove of the safety bolt connecting plate in a forward arc path. When the follower rod reaches one edge of the rotary groove, it drives the safety bolt connecting plate to move forward. After the safety bolt connecting plate rotates to the set angle, the safety bolt switches to the safety state. At this time, the drive gear is reversed, driving the follower rod to move in a reverse arc path. The follower rod moves in the rotary groove, the safety bolt connecting plate is stationary, and the drive gear reverses to drive the pistol rack to move. The pistol rack drives the pistol gear to rotate, and the pistol gear completes the firing through the pistol firing mechanism. b. After firing, the drive gear rotates forward, driving the pistol rack to move until the drive gear and pistol rack disengage. The follower rod then moves along the drive gear in a forward circular arc path, driving the safety pin connecting plate to rotate, causing the safety pin to switch to the safe state, thus completing one firing cycle.

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