CN109029123A - Weapon platform, the anti-Swimmers Weapons System with the platform and operational method - Google Patents
Weapon platform, the anti-Swimmers Weapons System with the platform and operational method Download PDFInfo
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- CN109029123A CN109029123A CN201810807656.2A CN201810807656A CN109029123A CN 109029123 A CN109029123 A CN 109029123A CN 201810807656 A CN201810807656 A CN 201810807656A CN 109029123 A CN109029123 A CN 109029123A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F7/00—Launching-apparatus for projecting missiles or projectiles otherwise than from barrels, e.g. using spigots
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- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
Weapon platform, the anti-Swimmers Weapons System with the platform and operational method, including portable fire control case (6)；Weapon station and detection sonar (7)；Weapon station includes plane rotating mechanism (1), luffing mechanism (2), the first sealing ring (3), automatic grenade launcher (4) and cartridge box component (5), master board, motor driver；Operation process is the following steps are included: detection sonar (7) real-time monitoring, target recognition and tracking, behind discovery target intrusion defence area, detection sonar (7) alert；The target data detected is sent to by communication cable the fire control computer of portable fire control case (6)；Fire control computer receives the target information that detection sonar (7) are sent, and completes target information processing, will treated target information real-time display over the display；And according to the motion information of target, target threat analysis is carried out, system enters operation operating mode.
Description
Technical field
The present invention relates to monitoring and Defense Technology Journal field, more particularly, to a kind of weapon platform and the anti-frog with the platform
People's weapon system, the invention further relates to the operational methods of anti-Swimmers Weapons System a kind of.
Background technique
There is resource abundant in ocean, and ocean plays a significant role expanding economy, and marine facility is in military strategy
There are extremely important effect and status.
With the reinforcement of economical activities of mankind, the mankind are more and more frequent to the utilization of marine resources, and marine facility is increasingly
It is more.The value of marine facility is high and plays a significant role and influence power, loses that big, to repair difficulty big after being destroyed.These characteristics
Making it easily becomes the destruction target of terrorist and illegal ruffian, can also become the target that hostile country destroys, therefore protect sea
The safety of foreign facility seems of crucial importance.Part marine facility has the particularity of highly concealed type, environment, so as to these facilities
Protection and defence it is extremely difficult.And underwater personnel's destructive activity is always treated as one of chief threat of marine facility, especially
Be be equipped with the development of technology high new equipment modern subaqueous destroy personnel threat it is bigger, such as: slip near shore,
(such as nuclear power station, harbour, islands and reefs, boring tower) on important strategic devices is destroyed；Harbour and military base is slipped into carry out brokenly
It is bad；Destruction etc. is implemented to the ship stopped in port.
Current various offshore operation means are greatly developed, and maritime state builds underwater operation, infiltration frogman energetically
Special war equipment such as special force, the water surface, underwater unmanned battle platform, frogman's conveyer etc., frogman army becomes coastal waters harbour water
The leading role of the local military conflict such as domain infiltration, investigation, destruction.
Threatened for above, CN107860266A discloses a kind of anti-frogman's system of underwater kit, includes: sonar transmitting and
Reception system real time emission detects the first sound wave of external frogman's torso model and/or gas cylinder sound wave, and by collected outside
The second sound wave that frogman's torso model and/or gas cylinder issue is converted to the first electric signal and emits to alarm system, electromagnetic induction system
Cause the magnetic signal of changes of magnetic field for incuding the metal in frogman's respirator in real time and magnetic signal be converted into the second electric signal,
And the second electric signal is emitted to alarm system；Alarm system by first and second electric signal be overlapped and with preset difference
Signal standards value range compares, and alarm system is alarmed or continued to test operation according to comparison result.This application has fast
The active protection of Underwater Engineering equipment is realized in speed detection and fast reaction, avoids the underwater destructive activity bring harm of frogman.
Ward in the prior art can detecte the appearance of frogman, but the position without tracking frogman in due course, more
The position of frogman and defensive weapon linkage are not got up, warning and strike effect are limited.In addition, anti-Swimmers Weapons System is also
There are the deficiencies of following several respects: robot weapon plateau levels direction and the driving of height direction are mostly using multi-stage gear composition
Gear ring gap will necessarily be introduced into transmission chain by actuating unit, gear drive, influence weapon-shooting precision；Gear needs fixed
Phase adds lubricant grease, makes troubles to using, and in particular for the anti-Swimmers Weapons System of remote seashore and islands and reefs, maintenance is not
It is convenient；For seashore, the environment of moist and high salt fog, lacks effective protection measure, greatly reduces making for anti-frogman's weapon platform
Use the service life.
Summary of the invention
For overcome the deficiencies in the prior art, shooting essence can be improved technical problem to be solved by the invention is to provide a kind of
Degree, adaptation used under seashore adverse circumstances, be able to achieve to marine facility periphery occur target carry out real-time detection, identification,
The underwater weapon platform for destroying personnel or equipment of defence of tracking, warning and strike, anti-Swimmers Weapons System and anti-frogman's weapon
The operational method of system
In order to solve the above-mentioned technical problem, on the one hand, the present invention provides a kind of weapon platform, including plane rotating mechanism；With institute
State the luffing mechanism connected at the top of plane rotating mechanism；First be arranged between the plane rotating mechanism and luffing mechanism is close
Seal；The plane rotating mechanism includes pedestal, the crossed roller bearing that inner ring is connect with the pedestal, with the crossed roller
The cabinet of the outer ring connection of bearing, the first motor that stator is connect with the cabinet are same with the rotor of first motor
The drive shaft of axis connection, the shaft coupling for being fixedly connected with pedestal and connecting with the drive shaft coaxial transmission, passes through bracket and institute
The the first exhausted angle value encoder stating cabinet connection and connecting with drive shaft one end of the first motor, is arranged in pedestal and cabinet
Between the second sealing ring；The luffing mechanism includes the rack connecting with cabinet upper end, respectively with the of rack pivot joint
One trunnion and the second trunnion, the reel cage that two sides are connect with first trunnion and the second trunnion respectively, stator and the rack are solid
It connects calmly, the second motor that one end of output shaft is connect with first trunnion, the outer casing stand with second motor
Connection and the second exhausted angle value encoder being connect with the output shaft other end of the second motor.
Technical solution as an improvement of the present invention, weapon platform provided by the invention, the first trunnion of the luffing mechanism
Between rack, Self-lubricating bearing bush, the first trunnion and the second trunnion and Self-lubricating bearing bush are equipped between the second trunnion and rack
It is slidably connected.
Technical solution as an improvement of the present invention, weapon platform provided by the invention, the first trunnion of the luffing mechanism
The second sealing ring is equipped between rack；Also have and connect with rack, by second motor and the second exhausted angle value encoder
Closed shield.
In order to solve the above-mentioned technical problem, on the other hand, the present invention provides a kind of anti-Swimmers Weapons System, including portable
Fire control case；The weapon station and detection sonar being connect with the portable fire control case；The weapon station includes plane rotating mechanism, with
The luffing mechanism connected at the top of the plane rotating mechanism, is arranged in first between the plane rotating mechanism and luffing mechanism
Sealing ring, the automatic grenade launcher being connect with the luffing mechanism and cartridge box component；The plane rotating mechanism includes pedestal,
The crossed roller bearing that inner ring is connect with the pedestal, the cabinet being connect with the outer ring of the crossed roller bearing, stator and institute
State cabinet connection the first motor, the drive shaft being connect with the rotor coaxial of first motor, be fixedly connected with pedestal,
And the shaft coupling being connect with the drive shaft coaxial transmission, it is connect by bracket with the cabinet and the drive with the first motor
First exhausted angle value encoder of moving axis one end connection, is arranged in the second sealing ring between pedestal and cabinet；The luffing mechanism
Including the rack being connect with cabinet upper end, respectively with the rack pivot joint the first trunnion and the second trunnion, two sides respectively with institute
The reel cage of the first trunnion and the connection of the second trunnion is stated, stator is fixedly connected with the rack, one end of output shaft and described first
Trunnion connection the second motor, connect with the outer casing stand of second motor and with the output shaft of the second motor
Second exhausted angle value encoder of other end connection；The automatic grenade launcher and cartridge box component are fixedly connected with the reel cage；
The weapon station further includes being arranged in the intracorporal master board of the case, is connect with the master board, controls the first electricity respectively
The motor driver of motivation, the second motor and automatic grenade launcher；The portable fire control case include with master board and
The fire control computer of detection sonar connection, the operation keyboard being connect with fire control computer and operation handle.
Technical solution as an improvement of the present invention, anti-Swimmers Weapons System provided by the invention, the of the luffing mechanism
Between one trunnion and rack, Self-lubricating bearing bush, the first trunnion and the second trunnion and Zi Run are equipped between the second trunnion and rack
Slide-bar watt is slidably connected.
Technical solution as an improvement of the present invention, anti-Swimmers Weapons System provided by the invention, the of the luffing mechanism
The second sealing ring is equipped between one trunnion and rack；Also have and connect with rack, by second motor and the second exhausted angle value
The closed shield of encoder.
In order to solve the above-mentioned technical problem, the present invention also provides the operational methods of anti-Swimmers Weapons System a kind of, described anti-
Swimmers Weapons System includes portable fire control case；The weapon station and detection sonar being connect with the portable fire control case；The force
Device station includes plane rotating mechanism, and the luffing mechanism with connecting at the top of the plane rotating mechanism is arranged in the Plane Rotation
The first sealing ring between mechanism and luffing mechanism, the automatic grenade launcher being connect with the luffing mechanism and cartridge box component；
The plane rotating mechanism includes pedestal, the crossed roller bearing that inner ring is connect with the pedestal, with the crossed roller bearing
Outer ring connection cabinet, the first motor that stator is connect with the cabinet, with the rotor coaxial of first motor company
The drive shaft connect, the shaft coupling for being fixedly connected with pedestal and connecting with the drive shaft coaxial transmission, passes through bracket and the case
The first exhausted angle value encoder that body is connected and connect with drive shaft one end of the first motor is arranged between pedestal and cabinet
The second sealing ring；The luffing mechanism includes the rack connecting with cabinet upper end, the first ear being pivotally connected respectively with the rack
Axis and the second trunnion, the reel cage that two sides are connect with first trunnion and the second trunnion respectively, stator and the rack are fixed to be connected
It connects, the second motor that one end of output shaft is connect with first trunnion, connect with the outer casing stand of second motor,
And the second exhausted angle value encoder being connect with the output shaft other end of the second motor；The automatic grenade launcher and cartridge box group
Part is fixedly connected with the reel cage；The weapon station further includes being arranged in the intracorporal master board of the case, with the main control
Plate connection, controls the motor driver of the first motor, the second motor and automatic grenade launcher respectively；The portable fire
Controlling case includes the fire control computer connecting with master board and detection sonar, the operation keyboard connecting with fire control computer and operation
Handle；Anti- Swimmers Weapons System's operation process the following steps are included:
Detection sonar is mounted on seabed or bank, or is hung under naval vessels, is connected by communication cable and portable fire control case
It connects, and connects to power supply；
Weapon station is fixed on bank or naval vessels, is connect by communication cable with portable fire control case, and connect to power supply；People
Work carries out ammunition loading to automatic grenade launcher and cartridge box component；
After portable fire control case powers on booting, fire control computer is initialized, and shows man-machine interface after initialization on display；
Fire control computer is communicated with master board, and master board feeds back penetrating for automatic grenade launcher to fire control computer in real time
Angle, directive, remaining bullet quantity information；
After systems inspection setting and ammunition loading, operator starts the operation keyboard on portable fire control case, makes detection sound
Be switched on work, and system enters standby state on duty；
Detection sonar carries out real-time monitoring, target recognition and tracking to monitoring region, after discovery target invades defence area, detection sonar
Alert；
After detection sonar finds target, continue to be monitored monitoring region, while the target of discovery is tracked and alarmed；
The target data detected is sent to fire control computer by communication cable by detection sonar；
Fire control computer receives the target information that detection sonar is sent, and completes target information processing, will treated target information
Real-time display is over the display；And according to the motion information of target, target threat analysis is carried out, system enters operation Working mould
Formula；
Operation operating mode is divided into autonomous combat mode and remote control combat mode,
Autonomous combat mode: automatic to lock the maximum target of threat degree, root after fire control computer is analyzed according to target threat
According to the motion information of target, Fire control calculation is carried out using mathematical model, and seek the firing direction of automatic grenade launcher automatically
Angle, pitch angle and volume of fire；Fire control computer to master board transmission automatic grenade launcher firing direction angle,
Pitch angle and volume of fire instruction；Master board control motor driver drives the first motor to make cabinet by the direction of instruction
Angle is rotated, and master board control motor driver drives the second motor to revolve luffing mechanism by the angle of instruction
Turn；After the firing direction angle of automatic grenade launcher, pitch angle adjust, it is automatic that master board controls motor driver control
Grenade launcher realizes howitzer transmitting by firing order；Master board is in real time to the state after the execution of fire control computer feedback command
Parameter；
Be remotely controlled combat mode: operator starts the manual operation key on portable fire control case, into remote control combat mode；Operation
Member carries out manual decision according to the prompt of fire control computer, and operation operation handle roll and pitch occurs on display to lock
Target, and according to the prompt artificial selection of fire control computer shoot scheme；Fire control computer is adopted according to the parameter of lock onto target
Fire control calculation is carried out with mathematical model, and seeks firing direction angle, pitch angle and the transmitting of automatic grenade launcher automatically
Bullet number；Firing direction angle, pitch angle and volume of fire of the fire control computer to master board transmission automatic grenade launcher
Instruction；Master board control motor driver drives the first motor to rotate cabinet by the orientation angle of instruction, master control
Making sheet control motor driver drives the second motor to rotate luffing mechanism by the angle of instruction；Automatic grenade launcher
Firing direction angle, after pitch angle adjustment, operator presses shooting criterions button, and master board controls motor driver
It controls automatic grenade launcher and realizes howitzer transmitting by firing order；Master board is executed to fire control computer feedback command in real time
State parameter afterwards.
Technical solution provided by the invention passes through plane rotating mechanism under the control of fire control computer and master board
The grazing fire direction of adjustable automatic grenade launcher, can adjust the shooting pitching of automatic grenade launcher by luffing mechanism
Angle can easily adjust the firing direction and pitch angle of automatic grenade launcher.It is able to achieve and occurs to marine facility periphery
Target carry out real-time detection, identification, tracking, warning and strike, realization target is automatically tracked.Plane rotating mechanism with
First sealing ring is set on the contact surface between luffing mechanism, it is close that second is equipped on the contact surface between the first trunnion and rack
Seal；Second motor and the second exhausted angle value encoder are enclosed in shield, make the sea that product adaptation is severe in moist, salty etc.
It is used under foreign environment.It is connected between the pedestal and cabinet of plane rotating mechanism using crossed roller bearing, because of roller and track table
At wire-shaped contact, rigidity is high, can obtain accurately rotary motion in face, when can reduce the adjustment of automatic grenade launcher firing direction
Error.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and is constituted part of this application, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the principle schematic diagram of the anti-Swimmers Weapons System of embodiment；
Fig. 2 is the principle schematic diagram of embodiment weapon platform；
Fig. 3 is the plane rotating mechanism principle schematic diagram of the driving box of embodiment weapon platform；
Fig. 4 is the principle schematic diagram of the luffing mechanism of the driving box of embodiment weapon platform；
Fig. 5 is the axial section principle schematic diagram of Fig. 4.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
The pitching machine connected at the top of weapon platform as shown in Figure 2, including plane rotating mechanism 1, with plane rotating mechanism 1
The first sealing ring 3 between plane rotating mechanism 1 and luffing mechanism 2 is arranged in structure 2.As shown in figure 3, plane rotating mechanism 1 wraps
Include pedestal 101, the crossed roller bearing 102 that inner ring is connect with pedestal 101, the case connecting with the outer ring of crossed roller bearing 102
Body 103, the first motor that stator is fixedly connected with cabinet 103, the drive shaft being connect with the rotor coaxial of the first motor 106
105, the shaft coupling 104 for being fixedly connected with pedestal 101 and connecting with 105 coaxial transmission of drive shaft passes through bracket and cabinet 103
Connection and the first exhausted angle value encoder 107 connecting with 105 one end of the drive shaft of the first motor, are arranged in pedestal 101 and case
The second sealing ring 108 between body 103.As shown in Figure 4 and Figure 5, luffing mechanism 2 includes the rack connecting with 103 upper end of cabinet
201, respectively with rack 201 be pivotally connected the first trunnion 202 and the second trunnion 203, two sides respectively with the first trunnion 202 and the second ear
The reel cage 204 that axis 203 connects, the second motor that stator is fixedly connected with rack 201, output shaft is connect with the first trunnion 202
205, the second exhausted degree for connecting with the outer casing stand of the second motor 205 and being connect with output shaft one end of the second motor 205
It is worth encoder 206.That section's harmonic wave deceleration electric machine of Harmer, model motor tool can be selected in first motor, the second motor 205
There is the characteristics of light weight, small-sized, high-precision, high reliablity, which has self-locking function, can apply to thermomechanical components and lock
Effect, fixed position.The second motor 205 selects decelerator in embodiment.
Optionally, weapon platform provided by the invention, between the first trunnion 202 and rack 201 of luffing mechanism 2, second
Self-lubricating bearing bush 207, the first trunnion 202 and the second trunnion 203 and Self-lubricating bearing bush are equipped between trunnion 203 and rack 201
207 are slidably connected.
Optionally, weapon platform provided by the invention is equipped with the between the first trunnion 202 and rack 201 of luffing mechanism 2
Two sealing rings 208；Also have and connect with rack 201, by the second motor 205 and the second closed shield of exhausted angle value encoder 206
Cover 209.
The grazing fire direction that can adjust weapon platform by plane rotating mechanism 1 can adjust weapon by luffing mechanism 2
The shooting pitch angle of platform realizes the tracking to target.On contact surface between plane rotating mechanism 1 and luffing mechanism 2
First sealing ring 3 is set, the second sealing ring 208 is equipped on the contact surface between the first trunnion 202 and rack 201；Second electricity
Motivation 205 and the second exhausted angle value encoder 206 are enclosed in shield 209.Make the ocean that product adaptation is severe in moist, salty etc.
It is used under environment.It is connected between the pedestal 101 and cabinet 103 of plane rotating mechanism 1 using crossed roller bearing 102, because of roller
With raceway surface at wire-shaped contact, rigidity is high, can obtain accurately rotary motion, can reduce the shooting of automatic grenade launcher 4
Error when direction adjusts.
Anti- Swimmers Weapons System as shown in Figure 1, including portable fire control case 6, the weapon being connect with portable fire control case 6
It stands and detection sonar 7.What is connected at the top of weapon station as shown in Figure 2, including plane rotating mechanism 1, with plane rotating mechanism 1 bows
Mechanism 2 is faced upward, the first sealing ring 3 between plane rotating mechanism 1 and luffing mechanism 2 is set, is connect with luffing mechanism 2 automatic
Grenade launcher 4 and cartridge box component 5.As shown in Figure 3 (in conjunction with Fig. 2), plane rotating mechanism 1 includes pedestal 101, inner ring and pedestal
The crossed roller bearing 102 of 101 connections, the cabinet 103 connecting with the outer ring of crossed roller bearing 102, stator and cabinet 103 are solid
Surely the first motor connected, the drive shaft 105 being connect with the rotor coaxial of the first motor 106, with the fixed company of pedestal 101
The shaft coupling 104 for connecing and being connect with 105 coaxial transmission of drive shaft, connect by bracket with cabinet 103 and with the first motor
105 one end of drive shaft connection the first exhausted angle value encoder 107, be arranged between pedestal 101 and cabinet 103 second sealing
Circle 108.As shown in Figure 4 and Figure 5 (in conjunction with Fig. 2), luffing mechanism 2 includes the rack 201 connecting with 103 upper end of cabinet, respectively with
The first trunnion 202 and the second trunnion 203 that rack 201 is pivotally connected, two sides are connect with the first trunnion 202 and the second trunnion 203 respectively
Reel cage 204, the second motor 205 that stator is fixedly connected with rack 201, output shaft is connect with the first trunnion 202, with second
The second exhausted angle value encoder that the outer casing stand of motor 205 is connected and connect with output shaft one end of the second motor 205
206.Automatic grenade launcher 4 and cartridge box component 5 are fixedly connected with the reel cage 204.Weapon station further includes being arranged in cabinet 103
Interior master board, connect with master board, controls the first motor, the second motor 205 and automatic grenade launcher 4 respectively
Motor driver；The portable fire control case 6 includes the fire control computer connecting with master board and detection sonar 7 and fire
Control the operation keyboard and operation handle of computer connection.
Optionally, anti-Swimmers Weapons System provided by the invention, the first trunnion 202 and rack 201 of luffing mechanism 2 it
Between, between the second trunnion 203 and rack 201 be equipped with Self-lubricating bearing bush 207, the first trunnion 202 and the second trunnion 203 and Zi Run
Slide-bar watt 207 is slidably connected.
Optionally, anti-Swimmers Weapons System provided by the invention, between the first trunnion 202 and rack 201 of luffing mechanism 2
Equipped with the second sealing ring 208；Also have and connect with rack 201, by the second motor 205 and the second exhausted 206 envelope of angle value encoder
The shield 209 closed.
Control of the master board for the motor driver of the first motor, the second motor 205 and automatic grenade launcher 4
System, and the data of the first exhausted angle value encoder 107 and the second exhausted angle value encoder 206 are acquired, to obtain plane rotating mechanism 1
With the angle position of luffing mechanism 2.Pedestal 101 is fixed on bank base or ship deck, the one of electricity of master board control
The confession of machine driver, power-off and power supply direction, the motor driver provide power supply, the driving of the first motor for the first motor
Axis 105 rotates, and drives 103 synchronous rotary of cabinet, and master board controls direction of rotation and the angle of cabinet 103, the rotation of cabinet 103
Turn the rotation in the horizontal direction of achievable automatic grenade launcher 4.Automatic grenade launcher 4, cartridge box component 5 are each attached to pitching
On the reel cage 204 of mechanism 2, is rotated synchronously with luffing mechanism 2, make the opposite position between automatic grenade launcher 4 and cartridge box component 5
Fixation is set, consequently facilitating ammunition is automatically entered bore.Master board control one of motor driver confession, power-off and
Power supply direction, the motor driver are that the second motor 205 of luffing mechanism 2 provides power supply, control the pitching side of luffing mechanism 2
To and angle, the rotation of 2 second motor 20 of luffing mechanism automatic grenade launcher 4 can be achieved in pitch orientation (vertical direction)
Rotation.Master board also control automatic grenade launcher 4 for power-off and SERVO CONTROL, automatic grenade launcher 4 have supply
Ammunition can be automatically entered bore by bouncing function, fire the fire in a stove before fuel is added, howitzer is launched according to the predetermined direction.
Fire control computer has sonar target message processing module, fire control data processing and computing module, human-computer interaction aobvious
Show module, information transmission modular, fire control module, systematic training and checks module, system record and management module.Fire control meter
Calculation machine and master board carry out information exchange, while obtaining the detection data of detection sonar 7, complete weapon station comprehensively control and
Man-machine interface is shown.
When operation, anti-Swimmers Weapons System's operation process the following steps are included:
Detection sonar 7 is mounted on seabed or bank, or is hung under naval vessels, communication cable and portable fire control case 6 are passed through
Connection, and connect to power supply；
Weapon station is fixed on bank or naval vessels, is connect by communication cable with portable fire control case 6, and connect to power supply；
Ammunition loading manually is carried out to automatic grenade launcher 4 and cartridge box component 5；
After portable fire control case 6 powers on booting, fire control computer is initialized, and shows man-machine boundary after initialization on display
Face；Fire control computer is communicated with master board, and master board is in real time to fire control computer feedback automatic grenade launcher 4
Firing angle, directive, remaining bullet quantity information；
After systems inspection setting and ammunition loading, operator starts the operation keyboard on portable fire control case 6, makes detection sound
7 booting work, system enter standby state on duty；
7 pairs of monitoring regions of detection sonar carry out real-time monitoring, target recognition and tracking, after discovery target invades defence area, detection sound
7 alerts；
After detection sonar 7 finds target, continue to be monitored monitoring region, while the target of discovery is tracked and reported
It is alert；7 target datas detected of detection sonar are sent to fire control computer by communication cable；
Fire control computer receives the target information that detection sonar 7 is sent, and completes target information processing, will treated target information
Real-time display is over the display；And according to the motion information of target, target threat analysis is carried out, system enters operation Working mould
Formula；
Operation operating mode is divided into autonomous combat mode and remote control combat mode；
Autonomous combat mode: automatic to lock the maximum target of threat degree, root after fire control computer is analyzed according to target threat
According to the motion information of target, Fire control calculation is carried out using mathematical model, and seek the firing direction of automatic grenade launcher 4 automatically
Angle, pitch angle and volume of fire；Fire control computer transmits automatic grenade launcher 4 to master board by CAN bus
Firing direction angle, pitch angle and volume of fire instruction；Master board control motor driver drives the first motor to make case
Body 103 is rotated by the orientation angle of instruction, and master board control motor driver drives the second motor 205 to make pitching machine
Structure 2 is rotated by the angle of instruction；After the firing direction angle of automatic grenade launcher 4, pitch angle adjust, master board
It controls motor driver control automatic grenade launcher 4 and realizes howitzer transmitting by firing order；Master board passes through CAN bus reality
When to fire control computer feedback command execute after state parameter；
Be remotely controlled combat mode: operator starts the manual operation key on portable fire control case 6, into remote control combat mode；Behaviour
Work person carries out manual decision according to the prompt of fire control computer, operates operation handle roll and pitch and is gone out on display with locking
Existing target, and scheme is shot according to the prompt artificial selection of fire control computer；
Fire control computer carries out Fire control calculation using mathematical model, and seek automatic howitzer automatically according to the parameter of lock onto target
Firing direction angle, pitch angle and the volume of fire of transmitter 4；Fire control computer is transmitted by CAN bus to master board
Firing direction angle, pitch angle and the volume of fire instruction of automatic grenade launcher 4；Master board controls motor driver and drives
Dynamic first motor rotates cabinet 103 by the orientation angle of instruction, and master board controls motor driver driving second
Motor 205 rotates luffing mechanism 2 by the angle of instruction；The firing direction angle of automatic grenade launcher 4, pitch angle
After degree adjustment, operator presses shooting criterions button, and master board control motor driver control automatic grenade launcher 4 is pressed
Firing order realizes howitzer transmitting；Master board is by CAN bus in real time to the state after the execution of fire control computer feedback command
Parameter.
Fire control calculation can according to the 1st edition " gun ballistics " proposition of publishing house of Beijing Institute of Technology 2009 theory with
Method calculates Fire Unit firing table (style such as the following table 1) using trajectory differential equation group method.It it can also be counted by existing base
It learns model and carries out Fire control calculation.
Table 1: Fire Unit firing table
For those skilled in the art, the invention may be variously modified and varied.It is all in the claims in the present invention
Within spirit and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of weapon platform, including plane rotating mechanism (1)；With the pitching machine being connect at the top of the plane rotating mechanism (1)
Structure (2)；The first sealing ring (3) being arranged between the plane rotating mechanism (1) and luffing mechanism (2)；It is characterized in that, institute
Stating plane rotating mechanism (1) includes pedestal (101), the crossed roller bearing (102) that inner ring is connect with the pedestal (101), with
The cabinet (103) of the outer ring connection of the crossed roller bearing (102), stator are connect first electronic with the cabinet (103)
Machine (106), the drive shaft (105) being connect with the rotor coaxial of first motor (106), be fixedly connected with pedestal (101),
And the shaft coupling (104) being connect with the drive shaft (105) coaxial transmission, connect by bracket with the cabinet (103) and with
First exhausted angle value encoder (107) of drive shaft (105) one end connection of the first motor, is arranged in pedestal (101) and cabinet
(103) the second sealing ring (108) between；The luffing mechanism (2) includes the rack (201) connecting with cabinet (103) upper end,
Respectively with the rack (201) pivot joint the first trunnion (202) and the second trunnion (203), two sides respectively with first trunnion
(202) and the reel cage (204) of the second trunnion (203) connection, stator is fixedly connected with the rack (201), output shaft with it is described
The second motor (205) of first trunnion (202) connection is connect and with the with the outer casing stand of second motor (205)
Second exhausted angle value encoder (206) of output shaft one end connection of two motor (205).
2. weapon platform according to claim 1, which is characterized in that the first trunnion (202) of the luffing mechanism (2) with
It is equipped with Self-lubricating bearing bush (207) between rack (201), between the second trunnion (203) and rack (201), the first trunnion (202)
It is slidably connected with the second trunnion (203) and Self-lubricating bearing bush (207).
3. weapon platform according to claim 1, which is characterized in that the first trunnion (202) of the luffing mechanism (2) with
The second sealing ring (208) are equipped between rack (201)；Also have and connect with rack (201), by second motor (205)
With the second closed shield of exhausted angle value encoder (206) (209).
4. a kind of anti-Swimmers Weapons System, including portable fire control case (6)；The weapon being connect with the portable fire control case (6)
It stands and detection sonar (7)；It is characterized in that, the weapon station includes plane rotating mechanism (1), with the plane rotating mechanism
(1) luffing mechanism (2) that top connects, the first sealing being arranged between the plane rotating mechanism (1) and luffing mechanism (2)
It encloses (3), the automatic grenade launcher (4) and cartridge box component (5) being connect with the luffing mechanism (2)；The plane rotating mechanism
It (1) include pedestal (101), the crossed roller bearing (102) that inner ring is connect with the pedestal (101), with the crossed roller axis
The cabinet (103) of the outer ring connection of (102) is held, the first motor (106) that stator is connect with the cabinet (103) is and described
First motor (106) rotor coaxial connection drive shaft (105), be fixedly connected with pedestal (101) and with the drive shaft
(105) shaft coupling (104) of coaxial transmission connection, is connect by bracket with the cabinet (103) and the drive with the first motor
First exhausted angle value encoder (107) of moving axis (105) one end connection, second be arranged between pedestal (101) and cabinet (103)
Sealing ring (108)；The luffing mechanism (2) includes the rack (201) connecting with cabinet (103) upper end, respectively with the rack
(201) be pivotally connected the first trunnion (202) and the second trunnion (203), two sides respectively with first trunnion (202) and the second trunnion
(203) reel cage (204) connected, stator is fixedly connected with the rack (201), one end of output shaft and first trunnion
(202) connect the second motor (205), connect with the outer casing stand of second motor (205) and with the second motor
(205) the second exhausted angle value encoder (206) of output shaft other end connection；The automatic grenade launcher (4) and cartridge box group
Part (5) is fixedly connected with the reel cage (204)；The weapon station further includes the master board being arranged in the cabinet (103),
It is connect with the master board, controls the electricity of the first motor, the second motor (205) and automatic grenade launcher (4) respectively
Machine driver；The portable fire control case (6) includes the fire control computer connecting with master board and detection sonar (7) and fire
Control the operation keyboard and operation handle of computer connection.
5. anti-Swimmers Weapons System according to claim 4, which is characterized in that the first trunnion of the luffing mechanism (2)
(202) Self-lubricating bearing bush (207), the first ear are equipped between rack (201), between the second trunnion (203) and rack (201)
Axis (202) and the second trunnion (203) are slidably connected with Self-lubricating bearing bush (207).
6. anti-Swimmers Weapons System according to claim 4, which is characterized in that the first trunnion of the luffing mechanism (2)
(202) the second sealing ring (208) are equipped between rack (201)；Also have and is connect with rack (201), it is electronic by described second
Machine (205) and the second closed shield of exhausted angle value encoder (206) (209).
7. a kind of operational method of anti-Swimmers Weapons System, the anti-Swimmers Weapons System includes portable fire control case (6)；With institute
State the weapon station and detection sonar (7) of portable fire control case (6) connection；It is characterized in that, the weapon station includes Plane Rotation
Mechanism (1) is arranged with the luffing mechanism (2) connecting at the top of the plane rotating mechanism (1) in the plane rotating mechanism (1)
The first sealing ring (3) between luffing mechanism (2), the automatic grenade launcher (4) and bullet being connect with the luffing mechanism (2)
Box assembly (5)；The plane rotating mechanism (1) includes pedestal (101), the crossed roller that inner ring is connect with the pedestal (101)
Bearing (102), the cabinet (103) connecting with the outer ring of the crossed roller bearing (102), stator and the cabinet (103) are even
The first motor (106) connect, the drive shaft (105) being connect with the rotor coaxial of first motor (106), with pedestal
(101) shaft coupling (104) for being fixedly connected and connecting with the drive shaft (105) coaxial transmission, passes through bracket and the cabinet
(103) the first exhausted angle value encoder (107) for connecting and connecting with the drive shaft of the first motor (105) one end is arranged the bottom of at
The second sealing ring (108) between seat (101) and cabinet (103)；The luffing mechanism (2) includes connecting with cabinet (103) upper end
The rack (201) connect, respectively with first trunnion (202) and the second trunnion (203) of the rack (201) pivot joint, two sides are distinguished
The reel cage (204) being connect with first trunnion (202) and the second trunnion (203), stator and the rack (201) fixed company
It connects, the second motor (205) that output shaft is connect with first trunnion (202), the shell with second motor (205)
The second exhausted angle value encoder (206) that bracket is connected and connect with output shaft one end of the second motor (205)；It is described automatic
Grenade launcher (4) and cartridge box component (5) are fixedly connected with the reel cage (204)；The weapon station further includes being arranged described
Master board in cabinet (103), connect with the master board, control respectively the first motor, the second motor (205) and
The motor driver of automatic grenade launcher (4)；The portable fire control case (6) includes and master board and detection sonar (7)
The fire control computer of connection, the operation keyboard being connect with fire control computer and operation handle；Anti- Swimmers Weapons System's operation process
The following steps are included:
Detection sonar (7) is mounted on seabed or bank, or is hung under naval vessels, communication cable and portable fire control case are passed through
(6) it connects, and connects to power supply；
Weapon station is fixed on bank or naval vessels, is connect by communication cable with portable fire control case (6), and is connected with power supply
It connects；Ammunition loading manually is carried out to automatic grenade launcher (4) and cartridge box component (5)；
After portable fire control case (6) powers on booting, fire control computer is initialized, and shows man-machine boundary after initialization on display
Face；Fire control computer is communicated with master board, and master board feeds back automatic grenade launcher (4) to fire control computer in real time
Firing angle, directive, remaining bullet quantity information；
After systems inspection setting and ammunition loading, operator starts the operation keyboard on portable fire control case (6), makes to detect
Sonar (7) booting work, system enter standby state on duty；
Detection sonar (7) carries out real-time monitoring, target recognition and tracking to monitoring region, after discovery target invades defence area, detection
Sonar (7) alert；
After detection sonar (7) finds target, continue to be monitored monitoring region, while the target of discovery is tracked and reported
It is alert；The target data detected is sent to fire control computer by communication cable by detection sonar (7)；
Fire control computer receives the target information that detection sonar (7) are sent, and completes target information processing, and by treated, target is believed
Cease real-time display over the display；And according to the motion information of target, target threat analysis is carried out, system enters operation work
Mode；
Operation operating mode is divided into autonomous combat mode and remote control combat mode,
Autonomous combat mode: automatic to lock the maximum target of threat degree, root after fire control computer is analyzed according to target threat
According to the motion information of target, Fire control calculation is carried out using mathematical model, and seek the shooting side of automatic grenade launcher (4) automatically
To angle, pitch angle and volume of fire；Firing direction of the fire control computer to master board transmission automatic grenade launcher (4)
Angle, pitch angle and volume of fire instruction；Master board control motor driver drives the first motor to press cabinet (103)
The orientation angle of instruction is rotated, and master board control motor driver driving the second motor (205) makes luffing mechanism (2)
It is rotated by the angle of instruction；After the firing direction angle of automatic grenade launcher (4), pitch angle adjust, master board
It controls motor driver control automatic grenade launcher (4) and realizes howitzer transmitting by firing order；Master board is in real time to fire control
State parameter after the execution of computer feedback command；
Be remotely controlled combat mode: operator starts the manual operation key on portable fire control case (6), into remote control combat mode；
Operator carries out manual decision according to the prompt of fire control computer, operates operation handle roll and pitch to lock on display
The target of appearance, and scheme is shot according to the prompt artificial selection of fire control computer；Fire control computer is according to the ginseng of lock onto target
Number carries out Fire control calculation using mathematical model, and seeks the firing direction angle of automatic grenade launcher (4), pitch angle automatically
Degree and volume of fire；Fire control computer transmits the firing direction angle of automatic grenade launcher (4), pitch angle to master board
And volume of fire instruction；The deflection that master board control motor driver drives the first motor to make cabinet (103) by instruction
Degree is rotated, and master board control motor driver driving the second motor (205) makes luffing mechanism (2) by the angle of instruction
It is rotated；After the firing direction angle of automatic grenade launcher (4), pitch angle adjust, operator presses shooting criterions
Button, master board control motor driver control automatic grenade launcher (4) and realize howitzer transmitting by firing order；Main control
Plate is in real time to the state parameter after the execution of fire control computer feedback command.
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| CN201810807656.2A CN109029123B (en) | 2018-07-21 | 2018-07-21 | Weapon platform, anti-frogman weapon system with platform and operation method |
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| CN201810807656.2A CN109029123B (en) | 2018-07-21 | 2018-07-21 | Weapon platform, anti-frogman weapon system with platform and operation method |
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| CN114427803A (en) * | 2021-12-24 | 2022-05-03 | 湖南金翎箭信息技术有限公司 | Anti-frog grenade positioning control system and control method |
| WO2022178611A1 (en) * | 2021-02-25 | 2022-09-01 | Ramos Junior Alcino Vilela | Remote station system for automated discharge of firearms |
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| CN109029123B (en) | 2021-02-26 |
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