Buffering holder mechanism capable of carrying double guns

Abstract

The utility model discloses a buffering holder mechanism capable of carrying double guns. The buffering holder mechanism comprises a holder body, a recoil buffering module, a horizontal rotation driving mechanism and a pitching rotation driving mechanism. The horizontal rotation driving mechanism is used for connecting the bottom of the holder body with the small mobile platform and driving the holder body to horizontally rotate so as to adjust the azimuth angle of the holder body; the pitching rotation driving mechanism is used for connecting the left end and the right end of the holder body with the two recoil buffering modules correspondingly and synchronously driving the two recoil buffering modules to rotate up and down so as to adjust the pitching angles of the two recoil buffering modules. The recoil buffering module is used for carrying the firearm assembly and buffering recoil generated during firearm shooting in a two-way mode. According to the utility model, the recoil force generated by firearms carried on the left and right sides of the holder during shooting can be well buffered and damped in front and back directions, the impact force on a horizontal rotating motor and a small mobile platform is reduced, the stability during shooting is improved, and the multifunctional striking requirement is met.

Description

Technical Field

[0001] The utility model belongs to the technical field of special robots, and particularly relates to a buffer pan-tilt mechanism capable of carrying two guns. Background Technique

[0002] A combat robot is an unmanned combat platform that mounts firearms on small mobile platforms such as robotic dogs, wheeled or tracked robots.

[0003] Traditional combat robots usually only mount one type of firearm on a small mobile platform. Due to different requirements for shooting distance and range, it is necessary to temporarily replace the appropriate firearm according to needs during the mission execution, or directly dispatch multiple combat robots equipped with different firearms. The practice of temporarily replacing firearms will cause the delay of fighter opportunities, and the practice of dispatching multiple combat robots will easily expose its own targets, both of which will affect the mission. Therefore, what is needed in the future is a combat robot that can carry two guns or even multiple guns.

[0004] The pan-tilt mechanism is an important component for realizing the mounting, rotation, and pitching of firearms on combat robots. Conventional combat robots only need to carry a single firearm and install the firearm in the center of the pan-tilt mechanism, so it is relatively stable and does not need to consider the eccentric torque generated when firing. When firearms are mounted on both sides of the pan-tilt mechanism, due to the large recoil force of the firearms, the generated eccentric torque is large. If effective buffering measures are not taken, it will have a greater impact on both the horizontal rotation motor and the small mobile platform, resulting in a reduction in shooting stability and service life. Content of the Utility Model

[0005] Aiming at the problems existing in the above-mentioned prior art, the utility model provides a buffer pan-tilt mechanism capable of carrying two guns to reduce the influence of the eccentric torque generated when firing on both sides on the horizontal rotation motor and the small mobile platform, and helps to improve the shooting stability.

[0006] To solve the above technical problems and achieve the above technical effects, the utility model is realized through the following technical solutions:

[0007] A buffer pan-tilt mechanism capable of carrying two guns, comprising: a pan-tilt body, a recoil buffer module, a horizontal rotation drive mechanism, and a pitching rotation drive mechanism;

[0008] The horizontal rotation drive mechanism is used for connecting the bottom of the pan-tilt body with a small mobile platform and driving the pan-tilt body to rotate horizontally to adjust the azimuth angle of the pan-tilt body;

[0009] The pitching rotation drive mechanism is used for connecting the left and right ends of the pan-tilt body to the two recoil buffer modules respectively, and drives the two recoil buffer modules to rotate up and down synchronously to adjust the pitching angles of the two recoil buffer modules;

[0010] The recoil buffer module is used for carrying the firearm assembly and buffering the recoil force during firearm shooting in both directions.

[0011] Further, the pan-tilt body includes a vertical cylinder. A pan-tilt mounting flange for connecting the horizontal rotation drive mechanism is provided at the bottom end of the vertical cylinder. An inspection cover is provided at the top end of the vertical cylinder. A horizontal cylinder integrally formed with the vertical cylinder is provided on each of the left and right sides of the vertical cylinder. The two horizontal cylinders are coaxial, and an installation space for arranging the pitching rotation drive mechanism is left inside each of the two horizontal cylinders. End cover rings are respectively provided at the end parts of the two horizontal cylinders.

[0012] Further, the horizontal rotation drive mechanism is a horizontal rotation motor. The horizontal rotation motor is vertically upwardly arranged directly below the vertical cylinder. The main body part of the horizontal rotation motor is fixedly connected to the small mobile platform. The rotating shaft part of the horizontal rotation motor is fixedly connected to the bottom end of the vertical cylinder through the pan-tilt mounting flange.

[0013] Further, the pitching rotation drive mechanism includes a pitching motor, an auxiliary support shaft and a synchronous connecting member; the pitching motor is arranged in the horizontal cylinder on one side. The casing part of the pitching motor is fixedly connected to the inside of the corresponding horizontal cylinder. The rotating shaft part of the pitching motor protrudes out of the end cover ring of the corresponding horizontal cylinder on that side and is fixedly connected to a recoil buffer module; the auxiliary support shaft is arranged in the horizontal cylinder on the other side. A bearing is arranged between the main body of the auxiliary support shaft and the inner wall of the corresponding horizontal cylinder. One end of the auxiliary support shaft protrudes out of the end cover ring of the corresponding horizontal cylinder on that side and is fixedly connected to the other recoil buffer module; the pitching motor and the auxiliary support shaft are coaxial. The synchronous connecting member straddles the outer casings of the two recoil buffer modules to achieve torque transmission and ensure synchronism on both sides.

[0014] Further, the synchronous connecting member adopts a bridge-shaped connecting plate. The left and right sides of the bridge-shaped connecting plate are set as fixing plates for fixedly connecting with the recoil buffer module. The lower surface of the bridge-shaped connecting plate is set as an upper concave arc surface for avoiding the inspection cover at the top of the vertical cylinder. The upper surface of the bridge-shaped connecting plate is set as an upper convex platform for carrying the auxiliary system. Reinforcing ribs are respectively arranged between the upper convex platform and the fixing plates on the left and right sides.

[0015] Further, the auxiliary system includes, but is not limited to, a thermal imaging system, a reconnaissance camera, an optical sight, and a laser rangefinder.

[0016] Further, the recoil buffer module includes a bottom box and a cover plate covering the bottom box. Two shock absorption structures are arranged inside the bottom box in a left-right mirror image manner. The two shock absorption structures are respectively used for forward buffer shock absorption and backward buffer shock absorption. Fixing blocks for connecting with a firearm fixing bracket are arranged on both shock absorption structures. Positioning pins for quickly aligning with corresponding installation positions of the firearm fixing bracket are arranged on each fixing block. A slot for the fixing block to move back and forth is formed on the cover plate. The fixing blocks are located in their respective corresponding slots, and the end faces of the fixing blocks for connecting with the firearm fixing bracket protrude outwards from the outer side surface of the cover plate.

[0017] Further, both shock absorption structures include a guide post, a guide post support, a shock absorption spring, a sliding table, a linear track, a buffer shock absorption block, and a spring fixing plate. Taking the shock absorption structure on the left side as an example, two linear tracks are arranged on the inner side surface of the bottom box in parallel. A sliding table is arranged on the two linear tracks together. The fixing block is arranged on the surface of the sliding table. The sliding table is slidably sleeved on the right half of the guide post. The guide post is fixedly connected with the inner side surface of the bottom box through the guide post support. The left half of the guide post is sleeved with the shock absorption spring, the spring fixing plate, and the buffer shock absorption block. The left side surface of the buffer shock absorption block is attached to the guide post support. The left side surface of the spring fixing plate is attached to the right side surface of the buffer shock absorption block. The right side surface of the spring fixing plate is fixedly connected with the left end of the shock absorption spring. The right end of the shock absorption spring is fixedly connected with the left side surface of the sliding table. The shock absorption structure on the right side is a left-right mirror image of the shock absorption structure on the left side.

[0018] Further, the spring fixing plate is attached to the buffer shock absorption block through a limiting edge extending from the guide post support, and the buffer shock absorption block is pressed tightly against one side of the guide post support.

[0019] Further, a connection flange for driving connection with the pitching rotation driving mechanism is arranged in the middle of the surface of the bottom box. Screw through holes are arranged on the cover plate. The number and positions of the screw through holes respectively correspond to the number and positions of the flange holes on the connection flange.

[0020] Further, the buffer shock absorption block is made of ACF artificial cartilage bionic energy absorption material.

[0021] Further, the shock absorption spring is a rectangular spring.

[0022] The beneficial effects of the present utility model are:

[0023] The utility model can realize mounting two different firearms on both sides of the same pan-tilt. For example, a rifle and a shotgun can be mounted. The rifle is responsible for accurate long-range strikes, and the shotgun is responsible for large-scale close-range killings, achieving long-range and short-range fire coverage, so as to meet the multi-functional strike requirements.

[0024] The recoil buffer module of the utility model can play a good role in buffering and damping the recoil generated when the firearms mounted on the left and right sides of the pan-tilt fire, thereby reducing the impact force on the horizontal rotation motor and the small mobile platform when the firearms on both sides fire, and improving the stability during shooting.

[0025] In the recoil buffer module of the utility model, damping springs with appropriate performance are selected according to the different recoil forces of the firearms, so as to ensure the buffer and damping effect on the firearms. At the same time, buffer and shock-absorbing blocks made of special materials are used to reduce the time of the firearms impacting back and forth, so as to ensure the quick reset of the firearms.

[0026] The two different firearms mounted on both sides of the pan-tilt of the utility model share the same set of auxiliary systems, such as thermal imaging systems, reconnaissance cameras, optical sights, laser rangefinders, etc. In order to achieve this, the utility model uses a single pitching motor to cooperate with an auxiliary support shaft and a synchronous connecting piece to connect the recoil buffer modules on the left and right sides, realizing torque transmission, so as to ensure the synchronism of the pitching rotation of the firearms on both sides.

[0027] The utility model is light in overall weight, small in volume and reliable in performance, and is suitable for being mounted on various small mobile platforms, such as mechanical dogs, vehicle platforms, wheeled robot platforms, tracked robot platforms and other small mobile platforms, which is helpful for multi-functional combat missions.

[0028] The above description is only an overview of the technical solution of the utility model. In order to be able to understand the technical means of the utility model more clearly and implement it according to the content of the description, the following takes the preferred embodiments of the utility model and combines with the drawings to describe in detail as follows. The specific implementation manner of the utility model is given in detail by the following embodiments and their drawings. Description of the Drawings

[0029] The drawings described herein are used to provide a further understanding of the utility model, and constitute a part of this application. The schematic embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an improper limitation to the utility model. In the drawings:

[0030] Figure 1 is the front three-dimensional view of the overall structure of the utility model;

[0031] Figure 2 is the back three-dimensional view of the overall structure of the utility model;

[0032] Figure 3Front perspective view of the pan-tilt body of the present utility model;

[0033] Figure 4 Rear perspective view of the pan-tilt body of the present utility model;

[0034] Figure 5 One-side perspective view of the pan-tilt body of the present utility model after being assembled with the horizontal rotation motor, pitching motor and auxiliary support shaft;

[0035] Figure 6 The other-side perspective view of the pan-tilt body of the present utility model after being assembled with the horizontal rotation motor, pitching motor and auxiliary support shaft;

[0036] Figure 7 Cross-sectional view of the pan-tilt body of the present utility model after being assembled with the horizontal rotation motor, pitching motor and auxiliary support shaft;

[0037] Figure 8 Perspective view of the synchronous connecting member of the present utility model;

[0038] Figure 9 Front perspective view of the recoil buffer module of the present utility model;

[0039] Figure 10 Rear perspective view of the recoil buffer module of the present utility model;

[0040] Figure 11 Plan view of the internal structure of the recoil buffer module of the present utility model;

[0041] Figure 12 Perspective view of the internal structure of the recoil buffer module of the present utility model. Detailed implementation manners

[0042] The following will combine the accompanying drawings to elaborate on the preferred embodiments of the present utility model in detail, so as to more clearly understand the purpose, features and advantages of the utility model. It should be understood that the embodiments shown in the drawings are not limitations on the scope of the present utility model, but only to illustrate the essential spirit of the technical solution of the present utility model.

[0043] In the following description, for the purpose of explaining various disclosed embodiments, certain specific details are set forth to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the relevant art will recognize that the embodiments can be practiced without one or more of these specific details. In other instances, well-known devices, structures and technologies associated with the present application may not be shown or described in detail so as to avoid unnecessarily obscuring the description of the embodiments.

[0044] Unless the context requires otherwise, throughout the specification and claims, the words "comprising" and its variations such as "including" and "having" shall be understood in an open, inclusive sense, i.e., shall be interpreted as "including, but not limited to".

[0045] References throughout the specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" throughout the specification are not necessarily all referring to the same embodiment. Additionally, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0046] As used in this specification and the appended claims, the singular forms "a" and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally used in its inclusive sense of "and / or" unless the context clearly dictates otherwise.

[0047] Furthermore, the technical features involved in different embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0048] See Figure 1-2 As shown, a buffer pan-tilt mechanism capable of carrying two guns includes: a pan-tilt body 1, a recoil buffer module 2, a horizontal rotation drive mechanism, and a pitch rotation drive mechanism.

[0049] The horizontal rotation drive mechanism is used for connecting the bottom of the pan-tilt body 1 to a small mobile platform, and by driving the pan-tilt body 1 to rotate horizontally, the azimuth angle of the pan-tilt body 1 is adjusted.

[0050] The pitch rotation drive mechanism is used for connecting the left and right ends of the pan-tilt body 1 to the two recoil buffer modules 2 respectively, and by synchronously driving the two recoil buffer modules 2 to rotate up and down, the pitch angles of the two recoil buffer modules 2 are adjusted.

[0051] The recoil buffer module 2 is used for carrying a firearm assembly and buffering the recoil force during firearm shooting bidirectionally.

[0052] As an embodiment of the present utility model, see Figure 3-4As shown in the figure, the pan-tilt body 1 includes a vertical cylinder 101. At the bottom end of the vertical cylinder 101, there is a pan-tilt mounting flange 105 for connecting the horizontal rotation drive mechanism. At the top end of the vertical cylinder 101, there is an inspection cover 102. On the left and right sides of the vertical cylinder 101, there is a horizontal cylinder 103 integrally formed with the vertical cylinder 101 respectively. The two horizontal cylinders 103 are coaxial, and an installation space for arranging the pitch rotation drive mechanism is left inside both of the two horizontal cylinders 103. End cover rings 104 are respectively arranged at the ends of the two horizontal cylinders 103. At the rear side of the vertical cylinder 101, there is a reserved opening for wire routing, installing a control box or fixedly connecting with other devices.

[0053] As an embodiment of the present invention, refer to Figure 5-7 As shown in the figure, the horizontal rotation drive mechanism is a horizontal rotation motor 3. The horizontal rotation motor 3 is vertically upwardly arranged directly below the vertical cylinder 101. The main body part of the horizontal rotation motor 3 is fixedly connected with a small mobile platform. The rotating shaft part of the horizontal rotation motor 3 is fixedly connected with the pan-tilt mounting flange at the bottom end of the vertical cylinder 101 through a flange.

[0054] As an embodiment of the present invention, refer to Figure 1-2 and Figure 5 As shown in the figure, in order to ensure that the left and right firearms can share auxiliary systems such as a thermal imaging system, a reconnaissance camera, an optical sight, a laser rangefinder, etc. mounted on the pan-tilt body 1, the pitch rotation drive mechanism adopts a single pitch motor 4, and is assisted by a support shaft 5 and a synchronous connecting member 6 for cooperation. The pitch motor 4 is arranged in the horizontal cylinder 103 on one side. The housing part of the pitch motor 4 is fixedly connected with the inside of the corresponding horizontal cylinder 103. The rotating shaft part of the pitch motor 4 protrudes out of the end cover ring 104 of the corresponding horizontal cylinder 103 on that side and is fixedly connected with a recoil buffer module 2. The support shaft 5 is arranged in the horizontal cylinder 103 on the other side. A bearing 7 is arranged between the main body of the support shaft 5 and the inner wall of the corresponding horizontal cylinder 103 on that side. One end of the support shaft 5 protrudes out of the end cover ring 104 of the corresponding horizontal cylinder 103 on that side and is fixedly connected with another recoil buffer module 2. The pitch motor 4 and the support shaft 5 are coaxial. The synchronous connecting member 6 straddles the outer shells of the two recoil buffer modules 2 to achieve torque transmission and ensure the synchronism of the firearms on both sides.

[0055] As an embodiment of the present invention, refer to Figure 8As shown, the synchronization connecting member 6 adopts a bridge-shaped connecting plate. The left and right sides of the bridge-shaped connecting plate are provided with connecting plates 601 for fixedly connecting with the recoil buffer module 2. The lower surface of the bridge-shaped connecting plate is provided with an upper concave arc surface 602 for avoiding the top inspection cover 102 of the vertical cylinder 101. The upper surface of the bridge-shaped connecting plate is provided with an upper convex platform 603 for carrying the auxiliary system. Reinforcing ribs 604 are respectively arranged between the upper convex platform 603 and the connecting plates 601 on the left and right sides. It should be noted that the auxiliary system includes but is not limited to a thermal imaging system, a reconnaissance camera, an optical sight, and a laser rangefinder.

[0056] As an embodiment of the present invention, refer to Figure 9-12 As shown, the recoil buffer module 2 includes a bottom box 201 and a cover plate 202 covering the bottom box 201. Two shock absorption structures are arranged inside the bottom box 201 in a left-right mirror image. The two shock absorption structures are respectively used for forward shock absorption and backward shock absorption. As a preferred embodiment, both of the two shock absorption structures include a guide post 203, a guide post support 204, a shock absorption spring 205, a sliding table 206, a linear track 207, a buffer shock absorption block 208, and a spring fixing plate 209. For the convenience of description, taking the shock absorption structure on the left side as an example, two linear tracks 207 are arranged in parallel on the inner side surface of the bottom box 201. A sliding table 206 is arranged on the two linear tracks 207 together. The sliding table 206 is slidably sleeved on the right half of the guide post 203. The guide post 203 is fixedly connected with the inner side surface of the bottom box 201 through the guide post support 204. The left half of the guide post 203 is sleeved with the shock absorption spring 205, the spring fixing plate 209, and the buffer shock absorption block 208. The left side surface of the buffer shock absorption block 208 is attached to the guide post support 204. The left side surface of the spring fixing plate 209 is attached to the right side surface of the buffer shock absorption block 208. The right side surface of the spring fixing plate 209 is fixedly connected with the left end of the shock absorption spring 205. The right end of the shock absorption spring 205 is fixedly connected with the left side surface of the sliding table 206. Since the shock absorption structure on the right side is in a left-right mirror image with the shock absorption structure on the left side, it will not be repeated here.

[0057] As an embodiment of the present invention, two guide posts 203 are arranged in parallel up and down on each of the left and right guide post supports 204, thus forming a set of parallel guide posts; a corresponding shock absorption spring 205 is sleeved on each of the two guide posts 203 in the same set of parallel guide posts. A spring fixing plate 209 and a buffer shock absorption block 208 are sleeved on the two guide posts 203 in the same set of parallel guide posts together, so that the shock absorption effect is better.

[0058] As an embodiment of the present utility model, the spring fixing plate 209 is attached to the buffer shock-absorbing block 208 through a limiting edge 210 extending from the guide post support 204, and the buffer shock-absorbing block 208 is pressed tightly against one side of the guide post support 204.

[0059] As an embodiment of the present utility model, the guide post support 204 can be a complete U-shaped support, or can be formed by combining an independent vertical plate on one side and borrowing the end plate of the bottom box 201 on the other side, so as to save the internal space of the bottom box 201.

[0060] As an embodiment of the present utility model, the two damping structures can share two linear tracks 207, and the two linear tracks 207 are respectively located on the upper and lower sides of the inner surface of the bottom box 201, so that the recoil force of the firearm acts in the middle of the two linear tracks 207 to ensure that the firearm buffers along the linear tracks 207. The two groups of parallel guide post groups are both located between the two linear tracks 207 and are respectively located on the left and right sides of the inner surface of the bottom box 201.

[0061] As an embodiment of the present utility model, a fixing block 214 for connecting with the firearm fixing bracket is arranged on each slide table 206, and a positioning pin 211 for quickly aligning with the corresponding installation position of the firearm fixing bracket is arranged on each fixing block 214. A slot for the fixing block 214 to move back and forth is opened on the cover plate 202. The fixing block 214 is located in its corresponding slot, and the end face of the fixing block 214 for connecting with the firearm fixing bracket protrudes outwards from the outer side face of the cover plate 202. As a preferred embodiment, two fixing blocks 214 are designed on each slide table 206, and a positioning pin 211 is arranged in the middle of each fixing block 214. In this way, each recoil force buffer module 2 has four fixing blocks 214 and four positioning pins 211.

[0062] When the firearm fixing bracket is installed on the recoil force buffer module 2, the firearm fixing bracket can be quickly positioned on the fixing block 214 through the positioning pin 211 first, and then the firearm fixing bracket is tightened and fixed to the fixing block 214 by screws, so as to realize the assembly of the firearm fixing bracket and the recoil force buffer module 2. Finally, the firearms to be carried are respectively installed on the firearm fixing brackets on both sides of the pan-tilt body 1, and two different firearms can be carried simultaneously.

[0063] Furthermore, a connection flange 212 for driving connection with the pitching rotation driving mechanism is arranged in the middle of the surface of the bottom box 201, screw through holes 213 are arranged on the cover plate 202, and the number and positions of the screw through holes 213 respectively correspond to the number and positions of the flange holes on the connection flange 212. Specifically, the rotating shaft part of the pitching motor 4 and one end of the auxiliary support shaft 5 are fixedly connected to the recoil buffer module 2 on their respective corresponding sides through corresponding flanges.

[0064] As an embodiment of the present utility model, the buffer shock absorption block 208 is preferably made of ACF artificial cartilage bionic energy absorption material to reduce the time of the firearm impacting back and forth and ensure the rapid reset of the firearm. The ACF artificial cartilage bionic energy absorption material is a bionic energy absorption material invented by Academician Wang Bowei, the founder of the ACF Laboratory, through imitating the functions and structures of articular cartilage, based on interdisciplinary fields such as mechanics, chemistry, bionics, and metamaterials, and after more than 12,000 tests over 6 years. This material can absorb more than 90% of the impact energy, instantly convert kinetic energy into insignificant heat energy, and protect the human body and valuable items from the damage of the impact force.

[0065] The ACF artificial cartilage bionic energy absorption material is the buffer energy absorption material with the highest impact protection level globally, and its technology remains in the leading position. Specifically, it is a typical soft matrix hybrid cell pore material, and also a three-dimensional ultrastructure bionic metamaterial designed based on the functions and structures of the human knee joint cartilage. There are micron-sized holes inside the material, and there is a certain connection between the holes. The surfaces of the holes are distributed with gully-shaped protrusions, and these are all at the nanometer level. In short, the ACF artificial cartilage bionic energy absorption material is a soft matrix hybrid cell pore material with a micro-nano structure.

[0066] As an embodiment of the present utility model, the damping spring 205 is preferably a rectangular spring. The strength of the rectangular spring is much greater than that of an ordinary spring, and its fatigue resistance is also better than that of an ordinary spring. The rectangular spring can be selected according to the different recoil forces of the firearm carried. For example, a rectangular spring with a free length of 30 mm, an outer diameter of 25 mm, an inner diameter of 12.5 + mm, a limit compression rate of 50%, a limit pressure of 50 kg and 490 N can be selected, or a rectangular spring with a free length of 30 mm, an outer diameter of 25 mm, an inner diameter of 12.5 + mm, a limit compression rate of 40%, a limit pressure of 84 kg and 823 N can be selected.

[0067] When in use, on the left and right recoil buffer modules of the present utility model, a rifle and a shotgun can be respectively mounted through corresponding firearm fixing brackets. The rifle is responsible for precise long-distance strikes, and the shotgun is responsible for large-scale close-range killings. The muzzles of the two firearms face the same direction and share the same set of auxiliary systems, such as a thermal imaging system, a reconnaissance camera, an optical sight, a laser rangefinder, etc., to achieve the horizontal rotation and pitching rotation of the pan-tilt, so as to achieve automatic aiming and tracking, covering long and short-range firepower, and meeting the multi-functional strike requirements.

[0068] The recoil buffer module of the present utility model can play a good role in buffering and damping the recoil generated when the firearms mounted on the left and right sides of the pan-tilt fire, thereby reducing the impact on the horizontal rotation motor and the small mobile platform when the two firearms fire, and improving the stability during shooting.

[0069] The present utility model is light in overall mass, small in size and reliable in performance, and is suitable for being mounted on various small mobile platforms, such as robotic dogs, vehicle platforms, wheeled robot platforms, tracked robot platforms and other small mobile platforms, which is helpful for multi-functional combat missions.

[0070] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0071] The above-described embodiments only express several implementation manners of the present utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the utility model patent shall be subject to the appended claims.

Claims

1. A buffer pan-tilt mechanism capable of carrying two guns, characterized in that: It comprises a gimbal body (1), a recoil buffer module (2), a horizontal rotation drive mechanism, and a pitch rotation drive mechanism; The horizontal rotation driving mechanism is used to connect the bottom of the pan head body (1) with the small mobile platform, and drives the pan head body (1) to rotate horizontally to adjust the azimuth angle of the pan head body (1); The pitch rotation driving mechanism is used to connect the left and right ends of the gimbal body (1) to the two recoil buffer modules (2) respectively, and to synchronously drive the two recoil buffer modules (2) to rotate up and down, so as to adjust the pitch angles of the two recoil buffer modules (2); The recoil buffer module (2) is used to carry a firearm component and to bidirectionally buffer the recoil of the firearm when firing.

2. The buffer pan-tilt mechanism capable of carrying two guns according to claim 1, characterized in that: The gimbal body (1) comprises a vertical cylinder (101), the bottom end of the vertical cylinder (101) is provided with a gimbal mounting flange (105) for connecting the horizontal rotation drive mechanism, the top end of the vertical cylinder (101) is provided with an inspection cover (102), and the left and right sides of the vertical cylinder (101) are respectively provided with a horizontal cylinder (103) integrally formed with the vertical cylinder (101), the two horizontal cylinders (103) are coaxial, and the insides of the two horizontal cylinders (103) are reserved with mounting spaces for arranging the pitch rotation drive mechanism, and the ends of the two horizontal cylinders (103) are respectively provided with end cover rings (104).

3. The buffer pan-tilt mechanism capable of carrying two guns according to claim 2, characterized in that: The horizontal rotation driving mechanism is a horizontal rotation motor (3), and the horizontal rotation motor (3) is arranged vertically upward directly below the vertical cylinder (101). The main body of the horizontal rotation motor (3) is fixedly connected to the small mobile platform, and the rotating shaft of the horizontal rotation motor (3) is fixedly connected to the bottom end of the vertical cylinder (101) via the pan-tilt mounting flange (105).

4. The buffer pan-tilt mechanism capable of carrying two guns according to claim 2, characterized in that: The pitch rotation drive mechanism comprises a pitch motor (4), an auxiliary support shaft (5) and a synchronous connection member (6); the pitch motor (4) is arranged in the transverse cylinder (103) located on one side, the housing portion of the pitch motor (4) is fixedly connected to the inside of the transverse cylinder (103) on the corresponding side, the rotating shaft portion of the pitch motor (4) protrudes outward from the end cover ring (104) of the transverse cylinder (103) on the corresponding side and is fixedly connected to one of the recoil buffer modules (2); the auxiliary support shaft (5) is arranged In the transverse cylinder (103) located on the other side, a bearing (7) is arranged between the main body of the auxiliary support shaft (5) and the inner wall of the transverse cylinder (103) on the corresponding side, and one end of the auxiliary support shaft (5) protrudes outward from the end cover ring (104) of the transverse cylinder (103) on the corresponding side and is fixedly connected to the other recoil buffer module (2); the pitch motor (4) is coaxial with the auxiliary support shaft (5), and the synchronous connecting member (6) is bridged on the outer shells of the two recoil buffer modules (2).

5. The buffer pan-tilt mechanism capable of carrying two guns according to claim 4, characterized in that: The synchronous connecting member (6) adopts a bridge-type connecting plate, and the left and right sides of the bridge-type connecting plate are configured as fixed connecting plates (601) for fixed connection with the recoil buffer module (2), the lower surface of the bridge-type connecting plate is configured as an upper concave arc surface (602) for avoiding the top inspection cover (102) of the vertical cylinder (101), and the upper surface of the bridge-type connecting plate is configured as an upper convex platform (603) for carrying an auxiliary system, and reinforcing ribs (604) are respectively provided between the upper convex platform (603) and the fixed connecting plates (601) on the left and right sides.

6. The buffer pan-tilt mechanism capable of carrying two guns according to claim 1, characterized in that: The recoil buffer module (2) comprises a bottom box (201) and a cover plate (202) disposed on the bottom box (201); two shock absorbing structures are disposed inside the bottom box (201) in a mirror-image manner on the left and right sides; the two shock absorbing structures are used for forward shock absorbing and backward shock absorbing, respectively; the two shock absorbing structures are each provided with a fixing block (214) for connecting to a firearm fixing frame; each fixing block (214) is provided with a positioning pin (211) for quickly aligning the fixing block (214) with a corresponding installation position; the cover plate (202) is provided with a slot for facilitating the fixing block (214) to move back and forth; the fixing blocks (214) are located in the corresponding slots, and the end faces of the fixing blocks (214) for connecting to the firearm fixing frame protrude outward from the outer side surface of the cover plate (202).

7. The buffer pan-tilt mechanism capable of carrying two guns according to claim 6, characterized in that: The two shock absorbing structures each comprise a guide column (203), a guide column support (204), a shock absorbing spring (205), a slide table (206), a linear track (207), a buffer shock absorbing block (208), and a spring fixing plate (209). Taking the shock absorbing structure located on the left side as an example, the inner side surface of the bottom box (201) is provided with two linear tracks (207) parallel to each other, and a slide table (206) is commonly provided on the two linear tracks (207). The fixing block (214) is provided on the surface of the slide table (206). The slide table (206) is slidably sleeved on the right half of the guide column (203). The guide column (203) is connected to the guide column support (204). The guide column (203) is fixedly connected to the inner side surface of the bottom box (201); the left half of the guide column (203) is sleeved with the shock absorbing spring (205), the spring fixing plate (209) and the buffer shock absorbing block (208); the left side surface of the buffer shock absorbing block (208) is in contact with the guide column support (204); the left side surface of the spring fixing plate (209) is in contact with the right side surface of the buffer shock absorbing block (208); the right side surface of the spring fixing plate (209) is fixedly connected to the left end of the shock absorbing spring (205); the right end of the shock absorbing spring (205) is fixedly connected to the left side surface of the slide table (206); the shock absorbing structure on the right side is a left-right mirror image of the shock absorbing structure on the left side.

8. The buffer pan-tilt mechanism capable of carrying two guns according to claim 7, characterized in that: The spring fixing plate (209) is fitted with the buffer shock absorbing block (208) via a limiting edge (210) extending from the guide column support (204), and the buffer shock absorbing block (208) is tightly attached to one side of the guide column support (204).

9. The buffer pan-tilt mechanism capable of carrying two guns according to claim 6, characterized in that: A connecting flange (212) for transmission connection with the pitch rotation drive mechanism is provided in the middle of the surface of the base box (201), and screw through holes (213) are provided on the cover plate (202), and the number and positions of the screw through holes (213) respectively correspond to the number and positions of the flange holes on the connecting flange (212).

10. The buffer pan-tilt mechanism capable of carrying two guns according to claim 7, characterized in that: The buffer shock absorbing block (208) is made of ACF artificial cartilage bionic energy absorbing material.

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