You need to look up the definition of "infringe". Hint, it doesn't mean the same thing as "deny" or even "violate".
Ah heck, I'll do it for you.
transitive verb1: to encroach upon in a way that violates law or the rights of another (infringe a patent)
Webster's Revised Unabridged Dictionary (1913)
Infringe \In*fringe"\, v. i. 1. To break, violate, or transgress some contract, rule, or law; to injure; to offend.
2. To encroach; to trespass; -- followed by on or upon; as, to infringe upon the rights of another.
Using your definition, I can't find any occasion where Congress infringed on the right of members of a well regulated Miltia to keep and bear arms.
Now, if you think the definition of "shall not be infringed" is as plain as day, how about "Congress shall make no law". Whew! I don't need a dictionary for THAT puppy!
Yet ....