A link mechanism for a belt mounted on a gimbal

Abstract

A kind of link mechanism for feeding ammunition mounted on gimbal, the present application relates to a kind of link mechanism for feeding ammunition, the present application to be solved the conventional link mechanism for feeding ammunition on sentinel robot gimbal is limited to traditional link building, mechanical structure is relatively larger in volume and weight, the application of this link mechanism for feeding ammunition on gimbal makes robot volume and weight larger, stability is lower, finally lead to the problem of the overall performance of robot is poor, it includes front end launch mechanism, connecting structure and rear end link mechanism;The outlet end of rear end link mechanism is movably connected with one end of connecting structure, and the other end of connecting structure is movably connected with the inlet end of front end launch mechanism.The present application is used for direct feeding ammunition launch structure.

Description

Technical Field

[0001] This invention relates to a missile feeding link mechanism, specifically a missile feeding link mechanism mounted on a gimbal, which is used for directly feeding missile launch structures. Background Technology

[0002] In robot competitions, the main development trend of sentry robots with gimbals is to achieve greater coverage and strike efficiency while maintaining a lightweight and small size. This places high demands on the mechanical structure of the gimbal, especially the design of the ammunition supply chain mechanism.

[0003] Currently, most common ammunition feeding mechanisms are constructed in three-dimensional space: in a "northeast-east" coordinate system, after the bullet is propelled by the dial to gain an initial velocity perpendicular to the ground plane, it needs to pass through an arc-shaped link of at least half a circle on the "northeast" horizontal plane to ensure a certain level of firing efficiency and to exit from the nozzle without obstruction, thus achieving the basic firing function of the gimbal. This conventional ammunition feeding mechanism, limited by traditional link construction, has a relatively large mechanical structure in terms of size and weight. Applying this type of ammunition feeding link to a gimbal increases the robot's size and weight, reduces stability, and ultimately degrades the robot's overall performance. Therefore, how to ingeniously design a lightweight ammunition feeding link applicable to gimbals has become a widely discussed issue. Summary of the Invention

[0004] The present invention addresses the problem that conventional ammunition supply links on sentry robot gimbals are limited by traditional link construction, resulting in relatively large mechanical structures in terms of size and weight. Applying such ammunition supply links to gimbals increases the size and weight of the robot, reduces stability, and ultimately leads to a deterioration in the overall performance of the robot. Therefore, the present invention provides an ammunition supply link mechanism mounted on a gimbal.

[0005] The technical solution of this invention is:

[0006] A feeding link mechanism mounted on a gimbal includes a front-end launching mechanism, a connecting structure, and a rear-end link mechanism; the outlet end of the rear-end link mechanism is movably connected to one end of the connecting structure, and the other end of the connecting structure is movably connected to the inlet end of the front-end launching mechanism.

[0007] Furthermore, the front-end launching mechanism includes a tube body, a spring steel front-end receiving component, a drive connecting rod, a drive rod, a drive motor, and an upper connecting plate; the tube body is installed on the outlet end of the spring steel front-end receiving component, and the tube body and the spring steel front-end receiving component are installed on the lower end face of one end of the upper connecting plate; the drive motor is fixedly installed on the lower end face of the other end of the upper connecting plate; one end of the drive rod is fixedly installed on the rotating shaft of the drive motor; one end of the drive connecting rod is rotatably connected to the other end of the drive rod; and the other end of the drive connecting rod is connected to the rear-end link mechanism.

[0008] Furthermore, the front-end launching mechanism also includes a fixed plate and a lower connecting plate; the drive motor is mounted on the upper connecting plate via the fixed plate, and the lower connecting plate is fixedly mounted on the bottom end of the spring steel front-end receiving component.

[0009] Furthermore, the connecting structure includes an upper sliding support, an upper spring steel, a lower spring steel, and a lower sliding support. The upper sliding support is a strip plate with a first strip-shaped through hole machined along its length. The lower sliding support is a strip plate with a second strip-shaped through hole machined along its length. The upper sliding support is positioned above the lower sliding support. One end of the upper sliding support is rotatably connected to the rear-end link mechanism, and one end of the lower sliding support is rotatably connected to the rear-end link mechanism. The top of the inlet end of the spring steel front-end receiving member is slidably positioned in the first strip-shaped through hole of the upper sliding support through a pin. The bottom of the inlet end of the spring steel front-end receiving member is slidably positioned in the second strip-shaped through hole of the lower sliding support through a pin. The upper spring steel is positioned above the lower spring steel, and one end of the upper spring steel is fixedly installed on the outlet end of the rear-end link mechanism. One end of the lower spring steel is fixedly installed on the outlet end of the rear-end link mechanism, and the upper and lower spring steels are inserted into the spring steel front-end receiving member.

[0010] Furthermore, the rear-end link mechanism includes a bottom ammunition feeding link, a spring steel rear-end fixing component, and an ammunition feeding link drive motor; the ammunition feeding link drive motor is fixedly installed on the bottom end of the bottom ammunition feeding link, and the spring steel rear-end fixing component is fixedly installed on the top end of the bottom ammunition feeding link.

[0011] Furthermore, the rear-end link mechanism includes a bottom ammunition feeding link, a spring steel rear-end fixing component, and an ammunition feeding link drive motor; the ammunition feeding link drive motor is fixedly installed on the bottom end of the bottom ammunition feeding link, and the spring steel rear-end fixing component is fixedly installed on the top end of the bottom ammunition feeding link.

[0012] Furthermore, the rear end fixing component of the spring steel is a frame. The top of the frame is rotatably connected to the top of the upper sliding support component via a pin, and the bottom of the frame is rotatably connected to the top of the lower sliding support component via a pin. One end of the upper spring steel is fixedly installed on the top of the frame, and one end of the lower spring steel is fixedly installed on the bottom of the frame.

[0013] Furthermore, the spring steel front end receiving component is a frame body. The inlet end of the spring steel front end receiving component is provided with two spring steel insertion slots, which are located at the top and bottom of the spring body through hole. The inlet end of the spring steel front end receiving component is provided with an upper sliding support sliding protrusion and a lower sliding support sliding protrusion. The upper sliding support sliding protrusion is located above the lower sliding support sliding protrusion. The upper sliding support sliding protrusion is machined with an upper sliding support groove, and the lower sliding support sliding protrusion is machined with a lower sliding support groove. The upper sliding support is slidably mounted in the upper sliding support groove by means of a pin, and the lower sliding support is slidably mounted on the lower sliding support groove by means of a pin.

[0014] Furthermore, the connecting structure also includes a first bearing and two second bearings; the two second bearings are symmetrically installed on the side wall of the upper sliding support groove, and the upper spring steel is in contact with the bottom of the two second bearings; the first bearing is installed in the lower sliding support groove, and the first bearing is located below the lower spring steel.

[0015] Furthermore, the other end of the drive connecting rod is rotatably connected to the bottom ammunition supply link via a pin.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] 1. The structure of this invention provides a clever structural design idea to achieve this functional connection with relatively low mass cost, directly supplying the projectile launch structure.

[0018] 2. The structure of this invention greatly improves the performance of the sentry robot's gimbal, reduces the weight of the gimbal, reduces the resistance of the gimbal link, and is conducive to improving the sentry robot's mobility and the gimbal's strike capability.

[0019] 3. This application uses upper spring steel 3-4 and lower spring steel 3-5 between the rear end fixing part 4-2 of the spring steel and the front end receiving part 2-2 of the spring steel to solve the connection problem of the straight link. Under the premise of ensuring a certain strength, the projectile passes through the connection point between the straight link and the muzzle more smoothly, which is beneficial to ensuring the overall performance of the sentry robot's upper gimbal.

[0020] 4. This invention is applicable to the implementation of a lightweight ammunition supply chain for the sentry robot's gimbal in robot competition scenarios. In other similar competition fields, for robots requiring the function of launching spherical objects, the structure of this invention can also achieve this function with a relatively low weight. The structure of this invention can greatly improve the performance of the sentry robot's gimbal, reduce the weight of the gimbal, reduce the drag of the gimbal link, and is beneficial to improving the sentry robot's mobility and the gimbal's striking capability, as well as ensuring the overall performance of the sentry robot. In addition, the material consumption and cost of the entire gimbal are also effectively reduced. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the front-end launching mechanism 2.

[0023] Figure 3 This is a schematic diagram of connection structure 3.

[0024] Figure 4 This is a schematic diagram of the backend link mechanism 4. Detailed Implementation

[0025] Specific implementation method one: Combining Figures 1 to 4 This embodiment describes a feeding link mechanism mounted on a gimbal, which includes a front-end launching mechanism 2, a connecting structure 3, and a rear-end link mechanism 4. The outlet end of the rear-end link mechanism 4 is movably connected to one end of the connecting structure 3, and the other end of the connecting structure 3 is movably connected to the inlet end of the front-end launching mechanism 2.

[0026] Specific Implementation Method Two: Combining Figures 1 to 2 This embodiment describes a feeding link mechanism mounted on a gimbal. The front-end launching mechanism 2 includes a tube 2-1, a spring steel front-end receiving component 2-2, a drive connecting rod 2-3, a drive rod 2-4, a drive motor 2-5, and an upper connecting plate 2-7. The tube 2-1 is mounted on the outlet end of the spring steel front-end receiving component 2-2, and both the tube 2-1 and the spring steel front-end receiving component 2-2 are mounted on the lower end face of one end of the upper connecting plate 2-7. The drive motor 2-5 is fixedly mounted on the lower end face of the other end of the upper connecting plate 2-7. One end of the drive rod 2-4 is fixedly mounted on the rotating shaft of the drive motor 2-5. One end of the drive connecting rod 2-3 is rotatably connected to the other end of the drive rod 2-4, and the other end of the drive connecting rod 2-3 is connected to the rear-end link mechanism 4. Other components and connections are the same as in specific embodiment one.

[0027] Specific implementation method three: Combining Figures 1 to 2 This embodiment describes a feeding link mechanism mounted on a gimbal. The front-end launching mechanism 2 further includes a fixing plate 2-6 and a lower connecting plate 2-8. The drive motor 2-5 is mounted on the upper connecting plate 2-7 via the fixing plate 2-6, and the lower connecting plate 2-8 is fixedly mounted on the bottom end of the spring steel front-end receiving member 2-2. Other components and connections are the same as in specific embodiment two.

[0028] In this embodiment, the ammunition supply chain includes a front-end launching mechanism 2, a connecting structure 3, and a rear-end chain mechanism 4. The inlet of the rear-end chain mechanism 4 is the outlet of the upper gimbal's 6020 yaw axis motor, which is vertically upward. The outlet angle of the bottom ammunition supply chain is designed to be 10° backward relative to the vertical direction. The spring steel rear-end fixing part 4-2 is fixed at the same angle as the outlet angle of the bottom ammunition supply chain 4-1. The designed 17mm projectile launch tube 2-1 is controlled by a pitch axis motor to have its power-on angle 10° forward relative to the vertical direction. The spring steel front-end receiving part 2-2 is fixed at the same angle as the designed 17mm projectile launch tube 2-1. This is based on the fact that the gimbal needs to achieve a muzzle angle between 30° forward and 10° backward relative to the vertical direction according to strategic positioning requirements. Therefore, setting the initial power-on position muzzle angle to the middle position of 10° forward is beneficial to reducing the tensile and compressive deformation range of the upper and lower thin spring steels, and helps maintain their strength to avoid damage. The bottom feed path is set to tilt back 10° so that the upper and lower thin spring steels are in a relatively symmetrical and smooth state when initially powered on, preventing the bullet trajectory from getting stuck when the muzzle is turned to the extreme angle. It also helps to maintain the strength of the upper and lower thin spring steels and avoid damage.

[0029] Specific implementation method four: Combination Figure 1 and Figure 3 This embodiment describes a feeding link mechanism mounted on a gimbal. The connecting structure 3 includes an upper sliding support 3-3, an upper spring steel 3-4, a lower spring steel 3-5, and a lower sliding support 3-6. The upper sliding support 3-3 is a strip plate with a first strip-shaped through hole along its length. The lower sliding support 3-6 is also a strip plate with a second strip-shaped through hole along its length. The upper sliding support 3-3 is positioned above the lower sliding support 3-6. One end of the upper sliding support 3-3 is rotatably connected to the rear-end link mechanism 4, and one end of the lower sliding support 3-6 is connected to the rear-end link mechanism 4. The link mechanism 4 is rotatably connected. The top of the inlet end of the spring steel front receiving part 2-2 is slidably mounted in the first strip-shaped through hole of the upper sliding support 3-3 via a pin. The bottom of the inlet end of the spring steel front receiving part 2-2 is slidably mounted in the second strip-shaped through hole of the lower sliding support 3-6 via a pin. The upper spring steel 3-4 is positioned above the lower spring steel 3-5, and one end of the upper spring steel 3-4 is fixedly mounted on the outlet end of the rear link mechanism 4. One end of the lower spring steel 3-5 is fixedly mounted on the outlet end of the rear link mechanism 4, and the upper spring steel 3-4 and the lower spring steel 3-5 are inserted into the inlet end of the front-end transmitting mechanism 2. Other components and connections are the same as in specific embodiment one.

[0030] In this embodiment, the upper spring steel 3-4 and the lower spring steel 3-5 have the characteristics of being easily deformable and having high strength. The easy deformation allows them to maintain their curvature in different postures, which can prevent the bullet from getting stuck when their shape changes. The high strength can withstand the squeezing effect of the bullet to a certain extent and improve the service life of the mechanism.

[0031] Specific Implementation Method Five: Combining Figure 1 and Figure 4 This embodiment describes a feeding link mechanism mounted on a gimbal. The rear link mechanism 4 includes a bottom feeding link 4-1, a spring steel rear end fixing member 4-2, and a feeding link drive motor 4-3. The feeding link drive motor 4-3 is fixedly installed on the bottom end of the bottom feeding link 4-1, and the spring steel rear end fixing member 4-2 is fixedly installed on the top end of the bottom feeding link 4-1. Other components and connections are the same as in specific embodiment one.

[0032] Specific Implementation Method Six: Combination Figure 1 and Figure 4 This embodiment describes a feeding link mechanism mounted on a gimbal. The rear link mechanism 4 includes a bottom feeding link 4-1, a spring steel rear end fixing member 4-2, and a feeding link drive motor 4-3. The feeding link drive motor 4-3 is fixedly installed on the bottom end of the bottom feeding link 4-1, and the spring steel rear end fixing member 4-2 is fixedly installed on the top end of the bottom feeding link 4-1. Other components and connections are the same as in specific embodiment five.

[0033] Specific implementation method seven: Combination Figures 1 to 4 This embodiment describes a feeding link mechanism mounted on a gimbal. The spring steel rear end fixing member 4-2 forms a frame. The top of the frame is rotatably connected to the top of the upper sliding support member 3-3 via a pin, and the bottom of the frame is rotatably connected to the top of the lower sliding support member 3-6 via a pin. One end of the upper spring steel 3-4 is fixedly installed on the top of the frame, and one end of the lower spring steel 3-5 is fixedly installed on the bottom of the frame. Other components and connections are the same as in specific embodiments four or six.

[0034] Specific implementation method eight: Combination Figures 1 to 4This embodiment describes a feeding link mechanism mounted on a gimbal. The spring steel front-end receiving member 2-2 is a frame. Two spring steel insertion slots are located at the top and bottom of the projectile's through-hole at the inlet end of the spring steel front-end receiving member 2-2. The inlet end of the spring steel front-end receiving member 2-2 has an upper sliding support sliding protrusion and a lower sliding support sliding protrusion. The upper sliding support sliding protrusion is located above the lower sliding support sliding protrusion. The upper sliding support sliding protrusion has an upper sliding support groove, and the lower sliding support sliding protrusion has a lower sliding support groove. The upper sliding support member 3-3 is slidably mounted in the upper sliding support groove by a pin, and the lower sliding support member 3-6 is slidably mounted on the lower sliding support groove by a pin. Other components and connections are the same as in specific embodiments two or seven.

[0035] Specific Implementation Method Nine: Combining Figures 1 to 4 This embodiment describes a feeding link mechanism mounted on a gimbal. The connecting structure 3 further includes a first bearing 3-2 and two second bearings. The two second bearings are symmetrically mounted on the sidewalls of the upper sliding support groove, with the upper spring steel 3-4 in contact with the bottoms of the two second bearings. The first bearing 3-2 is mounted within the lower sliding support groove and is positioned below the lower spring steel 3-5. Other components and connections are the same as in specific embodiment eight.

[0036] In this embodiment, the spring steel front end receiving member 2-2 and the spring steel rear end fixing member 4-2 form a projectile supply link through the upper sliding support member 3-3 and the lower sliding support member 3-6 to supply projectiles.

[0037] Specific Implementation Method Ten: Combining Figures 1 to 4 This embodiment describes a feeding link mechanism mounted on a gimbal. The other end of the drive connecting rod 2-3 is rotatably connected to the bottom feeding link 4-1 via a pin. Other components and connections are the same as in specific embodiment two.

[0038] Working principle of the invention:

[0039] The connection structure between the front-end launching mechanism 2 and the rear-end link mechanism 4 includes a spring steel front-end receiving part 2-2 and a spring steel rear-end fixing part 4-2. An upper sliding support 3-3 and a lower sliding support 3-6, as well as an upper spring steel 3-4 and a lower spring steel 3-5, are provided between the spring steel front-end receiving part 2-2 and the spring steel rear-end fixing part 4-2. When the front-end launching mechanism is adjusted between a forward tilt of 30° and a backward tilt of 10° as required by the pitch axis, its rear-end link mechanism 4 remains fixed. This results in the gap between the front-end launching mechanism 2 and the rear-end link mechanism 4 changing during the front-end angle adjustment. This application compensates for the excess or deficiency of the projectile link by using the upper spring steel 3-4 and the lower spring steel 3-5, based on the assumption that the centerline attitude of the 17mm projectile remains unchanged. Upper spring steel 3-4 and lower spring steel 3-5 have the characteristics of being easily deformable and having high strength. The easy deformation can be used to maintain its curvature in different postures, which can prevent the bullet from getting stuck when its shape changes. The high strength can withstand the squeezing effect of the bullet to a certain extent and improve the service life of the mechanism. Therefore, it is very suitable to use thin spring steel as the compensation material for this link.

[0040] The upper end of the connection between the spring steel front-end receiving part 2-2 and the spring steel rear-end fixing part 4-2 is provided with an upper spring steel 3-4 and a lower spring steel 3-5. At the corresponding upper and lower parts of the spring steel front-end receiving part 2-2, spring steel insertion slots are opened slightly above and below the 17mm projectile hole. The other ends of the upper spring steel 3-4 and the lower spring steel 3-5 are inserted into the corresponding spring steel insertion slots. This ensures that regardless of how the muzzle changes its position within the required range, the upper spring steel 3-4 and the lower spring steel 3-5 can stably insert and withdraw within the corresponding slender slots without detaching or becoming displaced. Thus, when the 17mm projectile passes through the connection point and the muzzle posture is constantly changing, causing the projectile to derail, the upper spring steel 3-4 and the lower spring steel 3-5 can compress the projectile and adjust it back to its original trajectory. The spring steel front end receiving part 2-2 is connected to the spring steel rear end fixing part 4-2, and the upper spring steel 3-4 is supported by two freely rotating second bearings. When the lower spring steel 3-5 contacts the freely rotating first bearing 3-2, the upper spring steel 3-4 and the lower spring steel 3-5 extend and retract within the spring steel insertion groove. The upper sliding support part 3-3 and the lower sliding support part 3-6 slide on the upper sliding support part groove and the lower sliding support part groove, respectively, which limits the excessive deformation of the thin spring steel that may occur when the muzzle angle changes too much. It also forms a bridge with the upper spring steel 3-4 and the lower spring steel 3-5 to connect the parts, which helps to ensure the structural strength of the connection between the front-end firing mechanism and the rear-end link mechanism.

Claims

1. A feeding link mechanism mounted on a gimbal, characterized in that: It includes a front-end launching mechanism (2), a connecting structure (3), and a rear-end link mechanism (4); the connecting structure (3) includes an upper sliding support (3-3), an upper spring steel (3-4), a lower spring steel (3-5), and a lower sliding support (3-6); the rear-end link mechanism (4) includes a bottom feeding link (4-1), a spring steel rear-end fixing member (4-2), and a feeding link drive motor (4-3); the outlet end of the rear-end link mechanism (4) is movably connected to one end of the connecting structure (3), and the other end of the connecting structure (3) is movably connected to the inlet end of the front-end launching mechanism (2). The upper sliding support (3-3) is a strip plate with a first strip-shaped through hole machined along its length. The lower sliding support (3-6) is a strip plate with a second strip-shaped through hole machined along its length. The upper sliding support (3-3) is positioned above the lower sliding support (3-6). One end of the upper sliding support (3-3) is rotatably connected to the rear link mechanism (4), and one end of the lower sliding support (3-6) is rotatably connected to the rear link mechanism (4). The top of the inlet end of the spring steel front end receiving part (2-2) is slidably mounted on the upper sliding support via a pin. The bottom of the inlet end of the spring steel front end receiving part (2-2) is slidably set in the second strip-shaped through hole of the lower sliding support part (3-6) through a pin shaft in the first strip-shaped through hole of the spring steel front end receiving part (2-2). The upper spring steel (3-4) is set above the lower spring steel (3-5), and one end of the upper spring steel (3-4) is fixedly installed on the outlet end of the rear link mechanism (4). One end of the lower spring steel (3-5) is fixedly installed on the outlet end of the rear link mechanism (4). The upper spring steel (3-4) and the lower spring steel (3-5) are inserted into the front end receiving part (2-2) of the front spring steel. The ammunition supply link drive motor (4-3) is fixedly installed on the bottom end of the bottom ammunition supply link (4-1), and the spring steel rear end fixing piece (4-2) is fixedly installed on the top end of the bottom ammunition supply link (4-1). The spring steel rear end fixing part (4-2) is a frame. The top of the frame is rotatably connected to the top of the upper sliding support (3-3) by a pin. The bottom of the frame is rotatably connected to the top of the lower sliding support (3-6) by a pin. One end of the upper spring steel (3-4) is fixedly installed on the top of the frame, and one end of the lower spring steel (3-5) is fixedly installed on the bottom of the frame.

2. The ammunition supply link mechanism mounted on a gimbal according to claim 1, characterized in that: The front-end firing mechanism (2) includes a tube body (2-1), a spring steel front-end receiving part (2-2), a drive connecting rod (2-3), a drive rod (2-4), a drive motor (2-5), and an upper connecting plate (2-7). The gun barrel body (2-1) is installed on the outlet end of the spring steel front-end receiving part (2-2), and the tube body (2-1) and the spring steel front-end receiving part (2-2) are installed on the lower end face of one end of the upper connecting plate (2-7). The drive motor (2-5) is fixedly installed on the lower end face of the other end of the upper connecting plate (2-7). One end of the drive rod (2-4) is fixedly installed on the rotating shaft of the drive motor (2-5). One end of the drive connecting rod (2-3) is rotatably connected to the other end of the drive rod (2-4), and the other end of the drive connecting rod (2-3) is connected to the rear-end link mechanism (4).

3. The ammunition supply link mechanism mounted on a gimbal according to claim 2, characterized in that: The front-end launching mechanism (2) also includes a fixing plate (2-6) and a lower connecting plate (2-8); the drive motor (2-5) is mounted on the upper connecting plate (2-7) through the fixing plate (2-6), and the lower connecting plate (2-8) is fixedly mounted on the bottom end of the spring steel front-end receiving part (2-2).

4. The ammunition supply link mechanism mounted on a gimbal according to claim 1 or 2, characterized in that: The spring steel front end receiving part (2-2) is a frame. The inlet end of the spring steel front end receiving part (2-2) is provided with two spring steel insertion slots. The two spring steel insertion slots are located at the top and bottom of the ball body through hole. The inlet end of the spring steel front end receiving part (2-2) is provided with an upper sliding support sliding protrusion and a lower sliding support sliding protrusion. The upper sliding support sliding protrusion is located above the lower sliding support sliding protrusion. The upper sliding support sliding protrusion is machined with an upper sliding support groove, and the lower sliding support sliding protrusion is machined with a lower sliding support groove. The upper sliding support (3-3) is slidably set in the upper sliding support groove by means of a pin, and the lower sliding support (3-6) is slidably set on the lower sliding support groove by means of a pin.

5. The ammunition supply link mechanism mounted on a gimbal according to claim 4, characterized in that: The connecting structure (3) also includes a first bearing (3-2) and two second bearings; the two second bearings are symmetrically installed on the side wall of the upper sliding support groove, and the upper spring steel (3-4) is in contact with the bottom of the two second bearings. The first bearing (3-2) is installed in the lower sliding support groove, and the first bearing (3-2) is located below the lower spring steel (3-5).

6. The ammunition supply link mechanism mounted on a gimbal according to claim 2, characterized in that: The other end of the drive connecting rod (2-3) is rotatably connected to the bottom feed link (4-1) via a pin.

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