阅读说明：本技术 一种自动推拔栓柱装置 (Automatic plug pushing and pulling device ) 是由 吴明晖 李阳 陈远浩 于 2020-12-31 设计创作，主要内容包括：本发明属于装备测试领域,公开了一种自动推拔栓柱装置,包括基座、推拔组件以及栓柱旋转组件,基座具有移动导轨,推拔组件包括推拔基板和推拔电动推杆,推拔基板配合设置在移动导轨上,推拔基板凸出的凸出部,推拔电动推杆的输出端安装在所述凸出部上,栓柱旋转组件包括旋转电机、第一连接曲柄以及栓柱联动杆,栓柱的自由端通过相互连接的第一连接曲柄和栓柱联动杆安装在旋转电机的输出端上,推拔组件能够带动栓柱移动,栓柱旋转组件能够带动栓柱旋转,因此,自动推拔栓柱装置无需人员实地参与就能够进行枪械的自动推拔栓柱,从而使得枪械的推拔栓柱操作的自动化程度大大提高,保证了相关人员的人身健康安全。(The invention belongs to the field of equipment testing, and discloses an automatic pin pushing and pulling device which comprises a base, a pushing and pulling assembly and a pin rotating assembly, wherein the base is provided with a moving guide rail, the pushing and pulling assembly comprises a pushing and pulling base plate and a pushing and pulling electric push rod, the pushing and pulling base plate is arranged on the moving guide rail in a matching way, a convex part of the pushing and pulling base plate is arranged on the moving guide rail, the output end of the pushing and pulling electric push rod is arranged on the convex part, the pin rotating assembly comprises a rotating motor, a first connecting crank and a pin linkage rod, the free end of a pin is arranged on the output end of the rotating motor through the first connecting crank and the pin linkage rod which are mutually connected, the pushing and pulling assembly can drive the pin to move, the pin rotating assembly can drive the pin to rotate, therefore, the automatic pin pushing and pulling device can automatically push and pull the pin of a firearm without the on-site participation of personnel, and the automation degree of the pin pushing and pulling operation, the personal health and safety of related personnel are ensured.)

1. An automatic stud pushing and pulling device for automatically pushing and pulling a stud of a firearm to complete a cartridge loading process of the firearm, the firearm having a barrel, the barrel being disposed in a first horizontal orientation, comprising:

the base is horizontally arranged and is provided with a fixed frame for fixing the firearm and a movable guide rail, and the movable guide rail is arranged along the first horizontal direction;

the pushing and pulling assembly is arranged on the base; and

a stud rotating assembly disposed on the push-pull assembly,

wherein the push-pull assembly comprises a push-pull base plate and a push-pull electric push rod, the push-pull base plate is arranged on the movable guide rail in a matching way, the push-pull base plate is provided with a convex part which is convex towards one side of the movable guide rail,

the pushing and pulling electric push rod is arranged on the base, the output end of the pushing and pulling electric push rod is arranged along the first horizontal direction, the output end of the pushing and pulling electric push rod is arranged on the convex part,

the bolt rotating assembly comprises a rotating motor, a first connecting crank and a bolt linkage rod, the rotating motor is installed on the push-pull base plate, the output end of the rotating motor is arranged along the first horizontal direction, one end of the bolt linkage rod is installed at the free end of the first connecting crank, and the other end of the bolt linkage rod is installed at the free end of the bolt.

2. The automatic push and pull stud apparatus of claim 1, further comprising:

a control section including a processing unit including a processor and a memory for storing a processing program, the processor being configured to execute the processing program,

the processing programs comprise a bolt unlocking program, an opening program, an loading program and a bolt locking program,

said firearm having a predetermined locked position and a predetermined unlocked position, said predetermined locked position being closer to said barrel than said predetermined unlocked position, said bolt being disposed in said predetermined locked position,

the processor executes the bolt unlocking program according to an external instruction or an internal signal, the bolt unlocking program drives the rotating motor to rotate, so that the first connecting crank drives the first bolt to rotate 90 degrees anticlockwise through the bolt linkage rod, at the moment, the processor sends an opening signal,

the opening program drives the pushing and pulling electric push rod to drive the pushing and pulling base plate to move along the first horizontal direction according to the opening signal, so that the bolt is driven by the bolt rotating assembly to move from the preset locking position to the barrel and finally stop at the preset unlocking position, then the processor sends out an opening signal after delaying preset bullet filling time,

the loading program drives the pushing and pulling electric push rod to drive the pushing and pulling base plate to move along the first horizontal direction according to the loading signal, so that the bolt column is driven by the bolt column rotating assembly to move from the preset unlocking position to the gun barrel and finally stop at the preset locking position, and at the moment, the processor sends a locking signal,

and the bolt locking program drives the rotating motor to rotate according to the locking signal, so that the first connecting crank drives the robbing bolt to rotate clockwise by 90 degrees, and at the moment, the processor sends a firing signal.

3. The automatic push and pull stud apparatus of claim 2, further comprising:

a trigger drive assembly disposed on the base,

the firearm is also provided with a trigger which,

trigger drive assembly includes that trigger driving motor, second connect crank and trigger drive lug, the output of pulling driving motor sets up along the second horizontal direction, this second horizontal direction perpendicular to first horizontal direction, trigger drive lug is installed the articulate free end is connected to the second, trigger drive lug is located the near of trigger just the stiff end and the free end of trigger drive lug are located respectively the both sides of trigger.

4. The automatic push and pull stud device of claim 3, wherein:

the processing program further comprises a triggering program, the triggering program drives the trigger driving motor to rotate according to the triggering signal, and therefore the second connecting crank drives the trigger to rotate through the trigger driving lug.

5. The automatic push and pull stud apparatus of claim 2, further comprising:

the shell withdrawing and fault eliminating assembly comprises a mounting plate, a translation driving motor, a translation driving lead screw, a motor mounting frame, a lead screw penetrating motor and a top rod,

the end of the barrel has a muzzle,

the mounting plate is mounted on the base, the translation driving motor is mounted on the mounting plate, the output end of the translation driving motor is arranged along a second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, the translation driving screw rod is mounted at the output end of the translation driving motor, and the translation driving screw rod is positioned near the muzzle,

the motor mounting bracket is installed on the translation drive lead screw, the lead screw runs through the motor and installs on the motor mounting bracket, the ejector pin is installed on the output that the lead screw runs through the motor, and the ejector pin is followed first horizontal direction sets up.

6. The automatic push and pull stud device of claim 5, wherein:

the processing program further comprises a translation program and an ejection program,

the processor sends out a shell-removing and troubleshooting signal after delaying the preset bullet firing time according to the firing signal and sequentially executes the bolt unlocking program and the opening program,

the translation program drives the translation driving motor to drive the screw rod penetrating motor to move to a preset ejection position along the second horizontal direction through the translation driving screw rod according to the shell withdrawing and troubleshooting signal and the loading signal, at the moment, the processor sends out an ejection signal, the screw rod penetrating motor at the preset ejection position enables one end of the ejector rod to be located near the muzzle, and at the moment, the ejector rod is coaxial with the gun barrel,

and the ejection program drives one end of the ejector rod to extend into the barrel for a preset ejection distance according to the ejection signal.

7. The automatic push and pull stud device of claim 1, wherein:

wherein the fixing frame comprises a fixing clamp and a fixing seat which are arranged along the first horizontal direction,

the firearm is provided with a stock,

the fixing clamp is used for clamping and fixing the gun barrel, and the fixing seat is used for inserting and fixing the gun stock.

8. The automatic push and pull stud apparatus of claim 1, further comprising:

a monitoring assembly in signal connection with an external monitoring terminal, the monitoring assembly being mounted on the base,

the monitoring assembly comprises a monitoring bracket and a CCD camera mounted on the monitoring bracket, and a lens of the CCD camera is arranged towards the firearm.

Technical Field

The invention belongs to the field of equipment testing, and particularly relates to an automatic plug pushing and pulling device.

Background

In view of the fact that a firearm is required to have high reliability and high environmental suitability in the actual use process and to be able to function in a special environment, it is necessary to perform environmental and reliability tests before the firearm is put into use, and it is essential to perform a bolt-pushing operation on the firearm in the above-mentioned tests.

The 7.62mm caliber test gun type has a linear barrel and a stock with the barrel vertical, the barrel is provided with a bolt (bolt, the same below), the bolt can move along the barrel and relative to the barrel, a locking position and an unlocking position exist on a moving path on the barrel, the bolt can be fixedly arranged in a rotating clamping mode in the locking position, the bolt is defaulted and fixedly arranged in the locking position, at the moment, a bullet loading position is closed, when the bolt is moved to the locking position, the bullet loading position is exposed, at the moment, a bullet loading action can be carried out, the process of pushing and pulling the bolt of the 7.62mm caliber test gun type comprises the steps of rotating the bolt to enable the bolt to be in a movable state, drawing the bolt to the unlocking position, at the moment, the bullet loading position is exposed, and the bullet loading is carried out, and pushing the bolt to the locking position after the bullet loading is finished, at the moment, the bullet filling position is closed, the bolt is in a movable state, and the fourth step is to rotate the bolt to be clamped, so that the bolt is in a fixed state.

In the 7.62mm caliber gun style push-pull stud, the existing process typically requires the tester or soldier to perform the above-described push-pull stud operation in the field.

However, these operations usually involve simulation projects under extreme environments such as high temperature, extreme cold, low pressure, low oxygen, etc., and when these simulation projects are executed, the relevant personnel or soldiers often experience physical discomfort, which results in life risks, i.e., the existing firearms have low automation of the bolt pulling operation, which results in great harm to the personal health safety of the relevant personnel.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the automatic bolt pushing and pulling device, which can automatically push and pull the bolt of the firearm and perform related operation without the participation of personnel on the spot, thereby greatly improving the automation degree of the bolt pushing and pulling operation of the firearm and ensuring the personal health safety of related personnel.

In order to achieve the purpose, the invention provides the following technical scheme:

an automatic bolt pushing and pulling device is used for automatically pushing and pulling a bolt of a firearm so as to finish the bullet loading process of the firearm, the firearm is provided with a barrel, the barrel is arranged along a first horizontal direction, the automatic bolt pushing and pulling device is characterized by comprising a base, a movable guide rail and a support, wherein the base is horizontally arranged and is provided with a fixed frame for fixing the firearm and the movable guide rail, and the movable guide rail is arranged along the first horizontal direction; the pushing and pulling assembly is arranged on the base; and the bolt rotating assembly is arranged on the pushing and pulling assembly, wherein the pushing and pulling assembly comprises a pushing and pulling base plate and a pushing and pulling electric push rod, the pushing and pulling base plate is arranged on the movable guide rail in a matched mode, the pushing and pulling base plate is provided with a protruding portion protruding towards one side of the movable guide rail, the pushing and pulling electric push rod is arranged on the base, the output end of the pushing and pulling electric push rod is arranged along a first horizontal direction, the output end of the pushing and pulling electric push rod is arranged on the protruding portion, the bolt rotating assembly comprises a rotating motor, a first connecting crank and a bolt linkage rod, the rotating motor is arranged on the pushing and pulling base plate, the output end of the rotating motor is arranged along the first horizontal direction, one end of the bolt linkage rod is arranged at the free end of the first connecting crank, and the other end of the bolt linkage.

Preferably, the control part comprises a processing unit, the processing unit comprises a processor and a memory, the memory is used for storing processing programs, the processor is used for executing the processing programs, the processing programs comprise a bolt unlocking program, a barrel opening program, a barrel loading program and a bolt locking program, the firearm is provided with a preset locking position and a preset unlocking position, the preset locking position is close to the barrel than the preset unlocking position, the bolt is arranged at the preset locking position, the processor executes the bolt unlocking program according to an external instruction or an internal signal, the bolt unlocking program drives the rotating motor to rotate, so that the first connecting crank drives the robbing bolt to rotate 90 degrees anticlockwise through the bolt interlocking rod, at the moment, the processor sends out the barrel opening signal, the barrel opening program drives the pushing and pulling electric push rod to drive the pushing and pulling base plate to move along a first horizontal direction according to the barrel opening signal, and the bolt is driven to move away from the preset barrel locking position through the bolt rotating assembly and finally stops at the preset unlocking, then, the processor sends a loading signal after delaying the preset bullet filling time, the loading program drives the pushing and pulling electric push rod to drive the pushing and pulling base plate to move along a first horizontal direction according to the loading signal, so that the bolt column is driven by the bolt column rotating assembly to move from a preset unlocking position to the gun barrel and finally stops at a preset locking position, at the moment, the processor sends a locking signal, the bolt column locking program drives the rotating motor to rotate according to the locking signal, the first connecting crank drives the robbing bolt to rotate 90 degrees clockwise, and at the moment, the processor sends a firing signal.

Furthermore, the invention also comprises a trigger driving assembly which is arranged on the base, the firearm is also provided with a trigger, the trigger driving assembly comprises a trigger driving motor, a second connecting crank and a trigger driving lug, the output end of the trigger driving motor is arranged along a second horizontal direction, the second horizontal direction is vertical to the first horizontal direction, the trigger driving lug is arranged at the free end of the second connecting crank, the trigger driving lug is positioned near the trigger, and the fixed end and the free end of the trigger driving lug are respectively positioned at two sides of the trigger.

Furthermore, the processing program also comprises a firing program, and the firing program drives the trigger driving motor to rotate according to the firing signal, so that the second connecting crank drives the trigger to rotate through the trigger driving lug.

Furthermore, the invention also comprises a shell withdrawing and troubleshooting assembly, which comprises a mounting plate, a translation driving motor, a translation driving lead screw, a motor mounting frame, a lead screw penetrating motor and a push rod, wherein the end part of the gun barrel is provided with a gun opening, the mounting plate is mounted on the base, the translation driving motor is mounted on the mounting plate, the output end of the translation driving motor is arranged along a second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, the translation driving lead screw is mounted at the output end of the translation driving motor and is positioned near the gun opening, the motor mounting frame is mounted on the translation driving lead screw, the lead screw penetrating motor is mounted on the motor mounting frame, the push rod is mounted at the output end of the lead screw penetrating motor, and the push rod is arranged along the.

And the processor sends out a shell-withdrawing and fault-removing signal and executes a bolt unlocking program and a chamber opening program in sequence after delaying the firing time of the predetermined bullet according to the firing signal, the translation program drives the translation driving motor to drive the screw rod to penetrate through the motor to move to a predetermined ejection position along a second horizontal direction according to the shell-withdrawing and fault-removing signal and the chamber loading signal, at the moment, the processor sends out an ejection signal, the screw rod positioned at the predetermined ejection position penetrates through the motor to enable one end of the ejector rod to be positioned near the muzzle, the ejector rod is coaxial with the barrel, and the ejection program drives one end of the ejector rod to extend into the barrel for a predetermined ejection distance according to the ejection signal.

Preferably, the mount includes fixation clamp and the fixing base that sets up along first horizontal direction, and the firearms has the stock, and the fixation clamp is used for the centre gripping fixed barrel, and the fixing base is used for inserting the stock fixedly.

Preferably, the present invention further comprises a monitoring assembly in signal connection with an external monitoring terminal, the monitoring assembly being mounted on the base, the monitoring assembly comprising a monitoring bracket and a CCD camera mounted on the monitoring bracket, the lens of the CCD camera being disposed toward the firearm.

Compared with the prior art, the invention has the beneficial effects that:

1. the automatic bolt column pushing and pulling device comprises a pushing and pulling base plate and a pushing and pulling electric push rod, the pushing and pulling base plate is arranged on the movable guide rail in a matched mode, the protruding portion of the pushing and pulling base plate is arranged, the output end of the pushing and pulling electric push rod is arranged on the protruding portion, the bolt column rotating assembly comprises a rotating motor, a first connecting crank and a bolt column linkage rod, the free end of a bolt column is arranged on the output end of the rotating motor through the first connecting crank and the bolt column linkage rod which are connected with each other, the pushing and pulling assembly can drive the bolt column to move, and the bolt column rotating assembly can drive the bolt column to rotate.

2. Because the invention also comprises a control part, the control part stores executable processing programs, and the processing programs comprise a bolt unlocking program, a bolt opening program, a bolt loading program and a bolt locking program, the invention can realize the automatic bolt pushing and pulling operation on the 7.62mm caliber firearm through the control part.

3. The bullet shooting device comprises a base, a trigger driving assembly and a shooting mechanism driving assembly, wherein the trigger driving assembly is arranged on the base and comprises a trigger driving motor, a second connecting crank and a trigger driving lug, the trigger driving lug is arranged at the output end of the trigger driving motor through the second connecting crank, the trigger driving lug is positioned near the trigger, and the fixed end and the free end of the trigger driving lug are respectively positioned on two sides of the trigger, so that the trigger driving lug can swing through the second connecting crank, the trigger is driven to swing relative to a firearm, and the bullet shooting action is realized.

4. The invention also comprises a shell withdrawing and troubleshooting assembly, which comprises a mounting plate, a translation driving motor, a translation driving lead screw, a motor mounting frame, a lead screw penetrating motor and a push rod, wherein the end part of the gun barrel is provided with a muzzle, the translation driving motor is mounted on the base through the mounting plate, the translation driving lead screw is mounted at the output end of the translation driving motor and is positioned near the muzzle, the lead screw penetrating motor is mounted on the translation driving lead screw through the motor mounting frame, and the push rod is mounted at the output end of the lead screw penetrating motor, so that the push rod can carry out shell withdrawing operation on a bullet shell of a 7.62mm caliber firearm through the lead screw penetrating motor or carry out troubleshooting operation of removing the bullet shell when the bullet is stuck in a cartridge chamber.

5. Because the invention also comprises a monitoring component which is in signal connection with an external monitoring terminal and comprises a monitor, the monitor comprises a monitoring bracket and a CCD camera which is arranged on the monitoring bracket, and the lens of the CCD camera is arranged towards the firearm, the working process of the invention can be monitored by related personnel in real time from the monitoring terminal so as to perform manual intervention in time.

Drawings

FIG. 1 is a schematic view of the overall structure of an automatic plug pulling apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of a portion of an automatic plug pulling apparatus according to an embodiment of the present invention;

FIG. 3 is an enlarged schematic view of a portion of the trigger drive assembly of an embodiment of the present invention;

FIG. 4 is an isometric view of an ejection and fault-rejection assembly according to an embodiment of the present invention;

FIG. 5 is a block diagram of the operation of an automatic push stud apparatus process of an embodiment of the present invention; and

FIG. 6 is a schematic isometric view of a monitor according to an embodiment of the present invention.

In the figure: A. barrel, B, stock, C, bolt, D, trigger, 100, automatic bolt pushing and pulling device, 10, base, 11, fixing frame, 111, fixing clamp, 112, fixing seat, 12, moving guide rail, 20, pushing and pulling component, 21, pushing and pulling electric push rod, 22, pushing and pulling base plate, 30, bolt rotating component, 31, first motor mounting seat, 32, rotating motor, 33, first connecting crank, 34, bolt linkage rod, 40, trigger driving component, 41, second motor mounting seat, 42, trigger driving motor, 43, second connecting crank, 44, trigger driving lug, 50 shell withdrawing and troubleshooting component, 51, mounting plate, 511, translation guide rail, 52, translation driving motor, 53, translation driving lead screw, 54, motor, 55, lead screw through motor, mounting frame 56, ejector rod, 60, monitoring component, 61, monitor, 611, monitoring support, 612, camera, 6121. and (5) a lens.

Detailed Description

In order to make the technical means, the original characteristics, the achieved objects and the effects of the present invention easily understood, the following examples are specifically described in conjunction with the accompanying drawings, and it is to be noted that the description of the embodiments is provided for the understanding of the present invention, but the present invention is not limited thereto.

As shown in fig. 1 and 2, the 7.62mm caliber firearm of this embodiment has a barrel a, stock B, bolt C, and trigger D.

The gun barrel A is of a linear type, the end part of the gun barrel A is provided with a muzzle used for shooting bullets, the stock B is perpendicular to the gun barrel A, the bolt C can move along the length direction of the gun barrel A and relative to the gun barrel A, a preset locking position and a preset unlocking position exist on the moving path of the bolt C on the gun barrel A, the preset locking position is close to the gun barrel A than the preset unlocking position, the bolt C is fixedly arranged at the preset locking position by default, and the free end of the trigger D can swing relative to the gun barrel A, so that the firing action of the bullets is triggered.

An automatic bolt pulling device 100 in this embodiment is used for automatically pulling a bolt C of a firearm, thereby completing a bullet loading process of the firearm, the firearm having a barrel arranged in a first horizontal direction, and is characterized by comprising a base 10, a pulling assembly 20, a bolt rotating assembly 30, a trigger driving assembly 40, a shell ejection and troubleshooting assembly 50, a control part (not shown in the drawings), and a monitoring assembly 60.

The base 10 is horizontally disposed and has a fixed frame 11 for fixing the firearm and a moving guide 12.

The fixing frame 11 includes a fixing clip 111 and a fixing seat 112 arranged along a first horizontal direction, the fixing clip 111 is used for clamping and fixing the gun barrel a, and the gun stock B is inserted and fixed in the fixing seat 112.

The moving rail 12 is located at an end of the base 10 remote from the barrel a and is disposed in a first horizontal direction.

The pushing and pulling assembly 20 is disposed on the base 10, and the pushing and pulling assembly 20 includes a pushing and pulling electric push rod 21 and a pushing and pulling base plate 22.

The pushing and pulling electric push rod 21 is arranged on the base 10 and is positioned near the end of the moving guide rail 12 close to the barrel a, and the output end of the pushing and pulling electric push rod 21 is arranged along the first horizontal direction and towards the end of the base 10 far away from the barrel a.

A pulling base plate 22 is fittingly provided on the moving rail 12, the pulling base plate 22 has a projection (not shown in the drawings) projecting toward one side of the moving rail 12, and the output end of the pulling electric putter 21 is mounted on the projection of the pulling base plate 22.

The stud rotating assembly 30 is disposed on the pulling assembly 20, and the stud rotating assembly 30 includes a first motor mounting seat 31, a rotating motor 32, a first connecting crank 33, and a stud linkage rod 34.

The rotating electric machine 32 is mounted on the tapered base plate 22 through the first electric machine mount 31, and an output end of the rotating electric machine 32 is arranged in the first horizontal direction.

A first connecting crank 33 is mounted on the output end of the rotary motor 32, a bolt linkage rod 34 is parallel to the barrel a, one end is mounted on the free end of the first connecting crank 33, and the other end is mounted on the free end of the bolt C.

As shown in FIG. 3, a trigger drive assembly 40 is provided on the base 10, the trigger drive assembly 40 including a second motor mount 41, a trigger drive motor 42, a second connecting crank 43, and a trigger drive tab 44.

The pulling driving motor 42 is installed on the base 10 through the second motor installation base 41, and an output end of the pulling driving motor 42 is arranged along a second horizontal direction perpendicular to the first horizontal direction.

The second connecting crank 43 is installed on the output end of the pulling driving motor 42, the trigger driving protrusion 44 is installed on the free end of the second connecting crank 43, the trigger driving protrusion 44 is located near the trigger D, and the fixed end and the free end of the trigger driving protrusion 44 are respectively located on both sides of the trigger D.

As shown in fig. 4, the shell removing and fault eliminating assembly 50 includes a mounting plate 51, a translation driving motor 52, a translation driving lead screw 53, a motor mounting bracket 54, a lead screw penetrating motor 55 and a push rod 56.

The mounting plate 51 is mounted on the end of the base 10 near the muzzle, and in this embodiment, the upper surface of the mounting plate 51 has two parallel translation guide rails 511, and the translation guide rails 511 are arranged perpendicular to the first horizontal direction.

The translation driving motor 52 is installed on the installation plate 51, the output end of the translation driving motor 52 is arranged along the second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, the translation driving screw 53 is installed at the output end of the translation driving motor 52, and the translation driving screw 53 is located near the muzzle, in the embodiment, the translation driving motor 52 is installed between the 2 translation guide rails 511.

The motor mount 54 is movably mounted on a translation drive screw 53, a screw through motor 55 is mounted on the motor mount 54, a ram 56 is mounted on the output end of the screw through motor 55, and the ram 56 is disposed in a first horizontal direction, in this embodiment, the bottom of the motor mount 54 is fitted with a translation guide 511, and the screw through motor 55 is preferably a nanotec (brand) 42 series linear motor.

The control section includes a processing unit including a processor and a memory, the memory storing a processing program, the processor executing the processing program,

the processing program comprises a bolt unlocking program, a bolt opening program, a bolt loading program, a bolt locking program, a firing program, a translation program and an ejection program.

As shown in fig. 5, the processor executes a bolt unlocking program according to an external instruction or an internal signal, the bolt unlocking program drives the rotating motor 32 to rotate, so that the first connecting crank 33 drives the bolt C to rotate 90 degrees counterclockwise through the bolt linkage rod 34, at this time, the processor sends an opening signal, the bolt C is in a movable state, and the bullet filling position is in a closed state.

The opening procedure drives the pushing and pulling electric push rod 21 to drive the pushing and pulling base plate 22 to move along the first horizontal direction according to the opening signal, so that the bolt column C is driven by the bolt column rotating assembly 20 to move from a preset locking position to a gun barrel A and finally stops at a preset unlocking position, at the moment, the bolt column C is in a movable state, a bullet loading position is in an exposed state, then, a bullet is loaded into the bullet loading position through an automatic bullet loading device or manual work, the processor reserves preset bullet loading time for bullet loading, the processor sends out an opening signal after delaying the preset bullet loading time, and the opening signal is sent out after the bullet loading action.

The loading program drives the pushing and pulling electric push rod 21 to drive the pushing and pulling base plate 22 to move along the first horizontal direction according to the loading signal, so that the bolt column C is driven to move from the preset unlocking position to the gun barrel A through the bolt column rotating assembly 30 and finally stops at the preset locking position, at the moment, the processor sends out a locking signal, the bolt column C is in a movable state, and the bullet loading position is in a closed state.

The bolt locking program drives the rotating motor 32 to rotate according to the locking signal, so that the first connecting crank 33 drives the bolt C to rotate 90 degrees clockwise, at the moment, the processor sends out a firing signal, the bolt C is in a fixed setting state, and the bullet filling position is in a closed state.

The firing program drives the trigger driving motor 42 to rotate according to the firing signal, so that the second connecting crank 43 drives the trigger D to rotate through the trigger driving lug 44, and the firing action of the bullet is triggered through the trigger D.

The processor delays the preset bullet firing time according to the firing signal, then sends out a shell-withdrawing troubleshooting signal and sequentially executes a bolt unlocking program and a chamber opening program, the preset bullet firing time ensures the bullet firing process of covering the firearm, namely the processor sends out the shell-withdrawing troubleshooting signal after the bullet firing process is finished and sequentially executes the bolt unlocking program and the chamber opening program, and at the moment, the bullet loading position is in an exposed state.

The translation program drives the translation driving motor 52 to drive the screw penetrating motor 55 to move to a preset ejection position along the second horizontal direction through the translation driving screw 53 according to the shell-withdrawing and fault-removing signal and the loading signal, at this time, the processor sends out the ejection signal, the screw penetrating motor 55 at the preset ejection position enables one end of the ejector rod 56 to be located near the muzzle, and at this time, the ejector rod 56 is coaxial with the gun barrel A.

The ejection sequence drives one end of the ejector pin 56 into the barrel a for a predetermined ejection distance based on the ejection signal, the predetermined ejection distance ensuring that the one end of the ejector pin 56 is spaced from the edge of the cartridge loading site by less than half the length of one shell so that a shell or cartridge lodged in the barrel a can be ejected from the cartridge loading site out of the barrel a.

The monitoring assembly 60 is in signal communication with an external monitoring terminal, preferably a monitoring screen in this embodiment, and the monitoring assembly 60 is mounted on the base 10.

As shown in fig. 6, the monitoring assembly 60 includes a monitor 61, the monitor 61 includes a monitoring bracket 611 and a CCD camera 612 mounted on the monitoring bracket 611, a lens 6121 of the CCD camera 612 is disposed toward the firearm, and in the present embodiment, the number of the monitors 61 is 2, and the monitors are respectively located at both sides of the firearm.

The above-described embodiments are preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and changes can be made by those skilled in the art without inventive work within the scope of the appended claims.