CN111735345A - Portable automatic posture-adjusting emitter - Google Patents
Portable automatic posture-adjusting emitter Download PDFInfo
- Publication number
- CN111735345A CN111735345A CN202010582679.5A CN202010582679A CN111735345A CN 111735345 A CN111735345 A CN 111735345A CN 202010582679 A CN202010582679 A CN 202010582679A CN 111735345 A CN111735345 A CN 111735345A
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- Prior art keywords
- adjusting
- motion unit
- rotary
- servo motor
- gun barrel
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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
- F41F1/00—Launching apparatus for projecting projectiles or missiles from barrels, e.g. cannons; Harpoon guns
Abstract
The invention discloses a portable automatic posture adjusting emitter, which comprises a gun barrel, a posture adjusting mechanism and a base, wherein the gun barrel is provided with a gun barrel body; the posture adjusting mechanism comprises a pitching motion adjusting system and a turning motion adjusting system; the pitching motion adjusting system comprises a vertical shaft supporting seat, a linear motion unit and a supporting rod, the rear part of the gun barrel is hinged with the vertical shaft supporting seat, and one end of the supporting rod is connected with the gun barrel in a sliding manner; the linear motion unit drives the other end of the supporting rod to move relative to the vertical shaft supporting seat; the rotary motion adjusting system comprises a rotary platform and a rotary motion unit, the linear motion unit is installed on the rotary platform, and the rotary motion unit drives the rotary platform to rotate; the rotary motion unit is mounted on the base. The invention uses the servo motor, the ball screw mechanism and the belt transmission mechanism to carry out motion control, can combine a control system to carry out high-precision attitude adjustment control, improves the missile launching hit precision, can realize unmanned autonomous launching, and has low cost of a mechanical structure attitude adjusting mode and stable attitude adjusting system.
Description
Technical Field
The invention relates to the field of missile launching devices, in particular to a portable automatic posture-adjusting launcher suitable for a miniature missile.
Background
The method for adjusting the posture mainly comprises two types of manual hand control and automatic control through researching the existing posture adjusting transmitter, but the manual hand control needs to be repeatedly observed and operated by naked eyes to achieve a transmitting angle, so that the time consumption is long, the precision is low, the anti-interference capability is low, the quick response requirement of the existing information war has a large difference, and the precision of the automatic control is very high, so that the automatic posture adjusting transmitter capable of realizing the automatic transmitting of the networked remote monitoring has practical value and a wide development prospect.
In addition, most of the posture adjusting transmitters developed at present are large in size and self-weight, need multiple persons to cooperate to use and maintain, are inconvenient for single soldiers to carry for battle use, and are low in efficiency, high in cost and low in transfer speed, so that a foldable portable automatic posture adjusting transmitter is urgently needed to solve the problems in the background art.
Disclosure of Invention
The invention aims to provide a portable automatic posture adjusting transmitter aiming at the defects of the prior art. The high-precision attitude adjustment control can be carried out by combining a control system, and the missile launching hit precision is improved.
In order to achieve the purpose, the invention provides the following technical scheme:
a portable automatic posture-adjusting launcher comprises a gun barrel, a posture-adjusting mechanism and a base; the posture adjusting mechanism comprises a pitching motion adjusting system and a turning motion adjusting system;
the pitching motion adjusting system comprises a vertical shaft supporting seat, a linear motion unit and a supporting rod, the rear part of the gun barrel is hinged with the vertical shaft supporting seat, and one end of the supporting rod is connected with the gun barrel in a sliding manner; the linear motion unit drives the other end of the supporting rod to move relative to the vertical shaft supporting seat;
the rotary motion adjusting system comprises a rotary platform and a rotary motion unit, the linear motion unit is installed on the rotary platform, and the rotary motion unit drives the rotary platform to rotate;
the rotary motion unit is mounted on the base.
The linear motion unit is a ball screw mechanism.
The ball screw mechanism comprises a ball screw, a screw nut, a servo motor and a motor shell, and the motor shell is arranged outside the servo motor; the output end of the servo motor is connected with a ball screw, and a screw nut is in threaded connection with the ball screw; the vertical shaft supporting seat is arranged on the motor shell; one end of the supporting rod is connected with the screw nut, and the other end of the supporting rod is connected with the gun barrel in a sliding mode through the sliding ring.
The linear motion unit further comprises a flat key, a vertical bearing seat, a needle roller bearing and a coupler, an output shaft of the servo motor is connected with one end of the ball screw through the flat key and the coupler, and the ball screw is connected through the vertical bearing seat with the needle roller bearing.
The linear motion unit is a belt transmission mechanism.
The belt transmission mechanism comprises a rotating shaft, a driven wheel, a driving wheel and a servo motor, an output shaft of the servo motor is connected with the driving wheel, the driving wheel and the driven wheel are in belt transmission, and the driven wheel and the rotating platform are connected through the rotating shaft.
The rotary motion unit further comprises a thrust roller bearing, a stop ring gasket, a thrust bearing seat and a flat key, the servo motor is installed on the thrust bearing seat, an output shaft of the servo motor is connected with the driving wheel through the flat key, a rotating shaft limits axial movement through the thrust bearing seat with the thrust roller bearing, the stop ring gasket is installed in a groove in the thrust roller bearing, and four wheel sets are arranged on the periphery of the thrust bearing seat to stabilize the driven wheel.
The base is a foldable tripod structure.
The base includes base platform, a plurality of support column, go-between, slider and central stable axle, and is a plurality of the support column tip articulates around base platform, and the go-between cover is on the support column, and it is spacing that the go-between passes through the protruding realization go-between on the support column, and the go-between is stabilized epaxial slider through member and center and is connected.
Compared with the prior art, the invention has the beneficial effects that:
the invention uses the servo motor, the ball screw mechanism and the belt transmission mechanism to carry out motion control, can combine a control system to carry out high-precision attitude adjustment control, improves the missile launching hit precision, can realize unmanned autonomous launching, and has low cost of a mechanical structure attitude adjusting mode and stable attitude adjusting system.
Furthermore, the base is foldable, saves space and is convenient to carry, thereby being suitable for individual combat.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a portable automatic posture-adjusting transmitter.
Fig. 2 is a schematic structural diagram of the pitching motion adjusting system.
Fig. 3 is a schematic structural diagram of the slewing motion adjustment system.
Fig. 4 is a schematic structural view of the foldable base.
In the figure: the device comprises a gun barrel 1, a posture adjusting mechanism 2, a base 3, a ball screw 4, a screw nut 5, a flat key 6, a vertical bearing seat 7, a needle bearing 8, a coupler 9, a servo motor 10, a motor shell 11, a vertical shaft bearing seat 12, a rotary platform 13, a rotary shaft 14, a driven wheel 15, a driving wheel 16, a thrust roller bearing 17, a stop ring gasket 18, a servo motor 19, a thrust bearing seat 21, a flat key 22, a base platform 23, a support column 24, a connecting ring 25, a rod piece 26, a sliding block 27 and a central stabilizing shaft 28.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, in an embodiment of the present invention, a portable automatic posture adjustment launcher includes a barrel 1, a posture adjustment mechanism 2, and a base 3; the rear part of the gun barrel 1 is arranged on a motor shell 11 through a vertical shaft supporting seat 12, the posture adjusting mechanism is arranged on a base platform 20, and the posture adjusting mechanism comprises a pitching motion adjusting system and a revolving motion adjusting system; the pitching motion adjusting system is used for adjusting the pitching angle of the gun barrel 1 relative to the base 3. The rotary motion adjusting system is used for adjusting the rotary angle of the gun barrel 1 relative to the base 3.
The pitching motion adjusting system comprises a vertical shaft supporting seat 12, a linear motion unit and a supporting rod 29, the rear part of the gun barrel 1 is hinged with the vertical shaft supporting seat 12, and one end of the supporting rod 29 is connected with the gun barrel 1 in a sliding manner; the other end of the supporting rod 29 is driven by the linear motion unit to move relative to the vertical shaft supporting seat 12;
the rotary motion adjusting system comprises a rotary platform 13 and a rotary motion unit, the linear motion unit is installed on the rotary platform 13, and the rotary motion unit drives the rotary platform 13 to rotate;
the rotary motion unit is mounted on the base 3.
As a preferred embodiment, the linear motion unit is a ball screw mechanism. The pitching angle of the gun barrel 1 relative to the base 3 is realized through a ball screw mechanism. Of course, other transmission mechanisms capable of realizing pitch angle adjustment can also be adopted.
In a preferred embodiment, the linear motion unit is a belt transmission mechanism. The rotation angle relative to the base 3 is realized through a belt transmission mechanism. Of course, other transmission mechanisms capable of realizing rotation angle adjustment can also be adopted.
As a preferred embodiment, the base 3 is a foldable tripod structure. The base is foldable, saves space and is convenient to carry, thereby being suitable for individual combat.
As a further scheme of the invention: the pitching motion adjusting system comprises a ball screw 4, a screw nut 5, a flat key 6, a vertical bearing seat 7, a needle bearing 8, a coupler 9, a servo motor 10 and a motor shell 11, wherein the servo motor 10 is installed on a rotary platform 13, an output shaft of the servo motor 10 is connected with one end of the ball screw 4 through the flat key 6 and the coupler 9, the ball screw 4 is connected with the vertical bearing seat 7 with the needle bearing 8, a vertical shaft bearing seat 12 is installed on the rotary platform 13, the ball screw 4 is provided with the screw nut 5, and the screw nut 5 is connected with a gun barrel 1 through a supporting rod 29.
During operation, the servo motor 10 arranged in the motor shell 11 works to generate torque, power is transmitted to the ball screw 4 through the coupler 9, the ball screw 4 rotates and generates relative motion with the screw nut 5 connected to the ball screw 4 through threads, and the screw nut 5 makes linear motion relative to the ball screw 4. The spindle nut 5 moves the support rod 29. Since the other end of the support rod 29 is fitted over the barrel 1 via the slip ring 30, the support rod 29 drives the slip ring 30 to move along the barrel 1. The tail end of the gun barrel 1 is hinged, and then the pitching angle of the gun barrel 1 is adjusted.
When the screw nut 5 is close to the vertical shaft supporting seat 12, the pitching angle of the gun barrel 1 is increased; when the lead screw nut 5 is away from the vertical shaft bearing block 12, the pitch angle of the barrel 1 decreases.
As a further scheme of the invention: the rotary motion adjusting system comprises a driven wheel 15, a driving wheel 16, a thrust roller bearing 17, a stop ring gasket 18, a servo motor 19, a thrust bearing seat 21 and a flat key 22, wherein the servo motor 19 is installed on the thrust bearing seat 21, an output shaft of the servo motor 19 is connected with the driving wheel 16 through the flat key 22, the driving wheel 16 and the driven wheel 15 are in belt transmission, the driven wheel 15 is connected with a rotary platform 13 through a rotary shaft 14, the rotary shaft 14 limits axial movement through the thrust bearing seat 17 with the thrust roller bearing 17, the stop ring gasket 18 is installed in a groove on the thrust roller bearing 17, and four wheel sets 20 are arranged on the periphery of the thrust bearing seat 17 to stabilize the driven wheel.
In operation, the servo motor 19 operates to drive the driving wheel 16 to rotate, and further drives the driven wheel 15 to rotate through the belt driving wheel 16, the driven wheel 15 is connected with the rotary platform 13 through the rotary shaft 14, and the rotary shaft 14 limits axial movement through the thrust bearing seat 17 with the thrust roller bearing 17, and further drives the rotary shaft 14 to rotate. The upper end of the rotating shaft 14 is connected with the rotating platform 13 to realize the rotation of the rotating platform 13. Thereby realizing the adjustment of the rotation angle of the barrel 1.
As a further scheme of the invention: the base 3 comprises a base platform 23, a plurality of support columns 24, a connecting ring 25, a sliding block 27 and a central stabilizing shaft 28, wherein the support columns 24 are arranged around the base platform 23, and one end of each support column 24 is hinged with the base platform 23. The connecting ring 25 is sleeved on the supporting column 24, the position of the connecting ring 25 is limited by the protrusion on the supporting column 24, and the connecting ring 25 is connected with the central stabilizing shaft 28 through the rod piece 26.
The support columns 24 are similar to a tripod structure, and linkage unfolding of three support columns can be realized by pulling apart any one support column, so that support is realized.
The working principle of the invention is as follows:
the invention relates to a portable automatic posture-adjusting transmitter, wherein before transmitting, a sliding block 27 on a central stable shaft 28 can slide downwards to drive peripheral supporting columns 24 to expand, after transmitting, the sliding block 27 only needs to slide upwards to drive the peripheral supporting columns 24 to approach to the center, and the base is folded. When the posture is adjusted before launching, a control command is generated by the pitching motion control system, the servo motor 10 is controlled to work, the lead screw 4 is driven to rotate through the transmission of the coupler 9, so that the lead screw nut 5 performs linear motion, and finally, the pitching angle change is launched according to a triangle rule, meanwhile, the control command is generated by the rotary motion control system, the servo motor 19 is controlled to work, and the rotary platform 13 is driven to rotate through the belt transmission mechanism, so that the azimuth angle change is launched. The portable automatic posture-adjusting transmitter fully adopts mechanical parts, has low cost and stable running state, and can realize reliable self-locking in the working process, thereby keeping stable posture without a braking device.
The present invention relates to a portable automated pose adjustment transmitter, and it will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, but can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. A portable automatic posture-adjusting launcher is characterized by comprising a gun barrel (1), a posture-adjusting mechanism (2) and a base (3); the posture adjusting mechanism comprises a pitching motion adjusting system and a turning motion adjusting system;
the pitching motion adjusting system comprises a vertical shaft supporting seat (12), a linear motion unit and a supporting rod (29), the rear part of the gun barrel (1) is hinged with the vertical shaft supporting seat (12), and one end of the supporting rod (29) is connected with the gun barrel (1) in a sliding manner; the other end of the support rod (29) is driven by the linear motion unit to move relative to the vertical shaft supporting seat (12);
the rotary motion adjusting system comprises a rotary platform (13) and a rotary motion unit, the linear motion unit is installed on the rotary platform (13), and the rotary motion unit drives the rotary platform (13) to rotate;
the rotary motion unit is mounted on the base (3).
2. The portable automated pose alignment transmitter of claim 1, wherein the linear motion unit is a ball screw mechanism.
3. The portable automatic pose adjustment transmitter according to claim 2, wherein the ball screw mechanism comprises a ball screw (4), a screw nut (5), a servo motor (10) and a motor housing (11), the motor housing (11) is arranged outside the servo motor (10); the output end of the servo motor (10) is connected with the ball screw (4), and the screw nut (5) is in threaded connection with the ball screw (4); the vertical shaft supporting seat (12) is arranged on the motor shell (11); one end of the supporting rod (29) is connected with the screw nut (5), and the other end of the supporting rod is connected with the gun barrel (1) in a sliding mode through a sliding ring (30).
4. The portable automatic posture adjustment transmitter according to claim 3, wherein the linear motion unit further comprises a flat key (6), a vertical bearing seat (7), a needle bearing (8) and a coupling (9), an output shaft of the servo motor (10) is connected with one end of the ball screw (4) through the flat key (6) and the coupling (9), and the ball screw (4) is connected through the vertical bearing seat (7) with the needle bearing (8).
5. The portable automatic pose-adjusting transmitter according to claim 1, wherein the linear motion unit is a belt transmission mechanism.
6. The portable automatic posture-adjusting transmitter according to claim 5, wherein the belt transmission mechanism comprises a rotating shaft (14), a driven wheel (15), a driving wheel (16) and a servo motor (19), an output shaft of the servo motor (19) is connected with the driving wheel (16), the driving wheel (16) and the driven wheel (15) are in belt transmission, and the driven wheel (15) and the rotating platform (13) are connected through the rotating shaft (14).
7. The portable automatic posture-adjusting transmitter according to claim 6, wherein the rotary motion unit further comprises a thrust roller bearing (17), a stop ring washer (18), a thrust bearing seat (21) and a flat key (22), the servo motor (19) is mounted on the thrust bearing seat (21), an output shaft of the servo motor (19) is connected with the driving wheel (16) through the flat key (22), the revolving shaft (14) limits axial movement through the thrust bearing seat (17) with the thrust roller bearing (17), the stop ring washer (18) is mounted in a groove on the thrust roller bearing (17), and four wheel sets (20) are arranged around the thrust bearing seat (17) to stabilize the driven wheel.
8. A portable automated pose adjustment transmitter according to claim 1, wherein the base (3) is a foldable tripod structure.
9. The portable automatic posture adjusting transmitter according to claim 1 or 8, wherein the base (3) comprises a base platform (23), a plurality of support columns (24), a connecting ring (25), a slider (27) and a central stabilizing shaft (28), the end parts of the support columns (24) are hinged around the base platform (23), the connecting ring (25) is sleeved on the support columns (24), the connecting ring (25) is raised through the support columns (24) to realize the limiting of the connecting ring (25), and the connecting ring (25) is connected with the slider (27) on the central stabilizing shaft (28) through a rod piece (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010582679.5A CN111735345B (en) | 2020-06-23 | 2020-06-23 | Portable automatic posture-adjusting emitter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010582679.5A CN111735345B (en) | 2020-06-23 | 2020-06-23 | Portable automatic posture-adjusting emitter |
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| CN111735345A true CN111735345A (en) | 2020-10-02 |
| CN111735345B CN111735345B (en) | 2021-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010582679.5A Active CN111735345B (en) | 2020-06-23 | 2020-06-23 | Portable automatic posture-adjusting emitter |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113082734A (en) * | 2021-04-08 | 2021-07-09 | 西北工业大学 | Aerial launcher of model rocket |
| CN113203318A (en) * | 2021-04-25 | 2021-08-03 | 北京机械设备研究所 | Portable three-leg launcher for forest fire-extinguishing cannon |
| CN114223632A (en) * | 2021-12-29 | 2022-03-25 | 广西图展科技有限公司 | Ant killing pill projection system |
| CN114427804A (en) * | 2022-02-07 | 2022-05-03 | 四川中陆嘉诚科技有限公司 | Automatic shooting fixer for launching vehicle |
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| EP2754989A2 (en) * | 2013-01-15 | 2014-07-16 | Krauss-Maffei Wegmann GmbH & Co. KG | Device and method for aiming a rocket launcher container |
| CN203798253U (en) * | 2014-04-29 | 2014-08-27 | 成都陵川特种工业有限责任公司 | Fire extinguishing bomb launcher |
| CN103925839B (en) * | 2014-04-29 | 2015-08-19 | 成都陵川特种工业有限责任公司 | A kind of fire-extinguishing shell launcher |
| CN105890447B (en) * | 2016-06-13 | 2017-11-10 | 沈阳航鹰机电技术开发有限公司 | It is remotely controlled rifle sighting angle controlling organization and angle regulator |
| CN106482580B (en) * | 2016-12-20 | 2018-03-30 | 重庆法布尼克机电有限公司 | A kind of fire extinguisher bomb boundling transmitter |
| CN110806144A (en) * | 2019-11-14 | 2020-02-18 | 北京环境特性研究所 | Infrared interference target throwing mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2754989A2 (en) * | 2013-01-15 | 2014-07-16 | Krauss-Maffei Wegmann GmbH & Co. KG | Device and method for aiming a rocket launcher container |
| CN203798253U (en) * | 2014-04-29 | 2014-08-27 | 成都陵川特种工业有限责任公司 | Fire extinguishing bomb launcher |
| CN103925839B (en) * | 2014-04-29 | 2015-08-19 | 成都陵川特种工业有限责任公司 | A kind of fire-extinguishing shell launcher |
| CN105890447B (en) * | 2016-06-13 | 2017-11-10 | 沈阳航鹰机电技术开发有限公司 | It is remotely controlled rifle sighting angle controlling organization and angle regulator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113082734A (en) * | 2021-04-08 | 2021-07-09 | 西北工业大学 | Aerial launcher of model rocket |
| CN113203318A (en) * | 2021-04-25 | 2021-08-03 | 北京机械设备研究所 | Portable three-leg launcher for forest fire-extinguishing cannon |
| CN114223632A (en) * | 2021-12-29 | 2022-03-25 | 广西图展科技有限公司 | Ant killing pill projection system |
| CN114427804A (en) * | 2022-02-07 | 2022-05-03 | 四川中陆嘉诚科技有限公司 | Automatic shooting fixer for launching vehicle |
| CN114427804B (en) * | 2022-02-07 | 2023-08-29 | 四川中陆嘉诚科技有限公司 | Automatic shooting fixer for launching vehicle |
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| CN111735345B (en) | 2021-12-10 |
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