CN113280690B - Double-servo driving end swinging structure adopting flexible skin and control method - Google Patents
Double-servo driving end swinging structure adopting flexible skin and control method Download PDFInfo
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- CN113280690B CN113280690B CN202110475784.3A CN202110475784A CN113280690B CN 113280690 B CN113280690 B CN 113280690B CN 202110475784 A CN202110475784 A CN 202110475784A CN 113280690 B CN113280690 B CN 113280690B
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- flexible skin
- rotating shaft
- support lug
- hinge support
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B10/00—Means for influencing, e.g. improving, the aerodynamic properties of projectiles or missiles; Arrangements on projectiles or missiles for stabilising, steering, range-reducing, range-increasing or fall-retarding
- F42B10/60—Steering arrangements
- F42B10/62—Steering by movement of flight surfaces
Abstract
A double-servo driving end swinging structure adopting flexible skins and a control method adopt a bilateral symmetry driving structure, utilize an internal coupling sleeve to connect, drive an end through a swinging end driving mechanism, realize the purpose that the end swings to change the appearance of a projectile body and improve the control efficiency of the projectile head, simultaneously realize the continuous change of the appearance of the missile in the end swinging process based on the design of the flexible skins, reduce the requirement of single servo driving force through double-arm support to adapt to the characteristic of small end loading space, and have stable swinging structure, continuous and smooth appearance change in the driving end swinging process and excellent pneumatic characteristic.
Description
Technical Field
The invention relates to a double-servo driving end swinging structure adopting a flexible skin and a control method, and belongs to the field of projectile body flight control.
Background
The existing missile is mainly controlled by adopting a pneumatic control surface swinging mode, and along with the improvement of the requirement on the flying speed and the maneuverability of the missile, the control mode has the defects of relatively long control response time and relatively low control efficiency. The control method adopting the thrust vector and the like has the limitation of carrying fuel.
Disclosure of Invention
The invention solves the technical problems that: aiming at the problems of limitation and unsatisfied maneuverability requirements of the traditional pneumatic control surface swinging and thrust vector control method in the prior art, the double-servo driving end swinging structure adopting the flexible skin and the control method are provided.
The technical problem to be solved by the invention is realized by the following technical scheme:
the utility model provides an adopt flexible skin's two servo drive end swing structure, includes end, flexible skin front end clamping ring, flexible skin rear end clamping ring, fastener, projectile body casing, swing end actuating mechanism, the end links to each other with flexible skin narrow end turn-ups to it is fixed in the axial connection cooperation through flexible skin front end clamping ring, fastener, and the projectile body casing is connected with flexible skin wide end turn-ups, and it is fixed in the axial connection cooperation through flexible skin rear end clamping ring, fastener for the drive end swings and sets up in the skin shell that end, flexible skin, projectile body casing are constituteed with the swing end actuating mechanism who produces the control force, and swing end actuating mechanism drive end swings in order to change the projectile body appearance and promote projectile head control efficiency.
The swing end driving mechanism comprises a left rotating shaft, a projectile body hinge support lug, an end hinge support lug, a rolling bearing, a bearing end cover, a taper pin, a rocker arm, a compression spring, a coupling sleeve, a servo actuator and a fastener, wherein the left rotating shaft and the projectile body hinge support lug are fixedly connected through the fastener, the projectile body hinge support lug is simultaneously fixedly connected onto a projectile body shell through the fastener, the end hinge support lug is arranged on the inner side of an end, the outer ring of the rolling bearing is connected with the inner hole of the end hinge support lug, the bearing end cover and the end hinge support lug are fixedly connected through the fastener, the bearing end cover is simultaneously in pressure tight fit with a rolling shaft, the rocker arm and the left rotating shaft are fixedly connected through the taper pin, the compression spring and the coupling sleeve are both sleeved on the left rotating shaft, the coupling sleeve is supported by the compression springs on two sides to keep balance at the center position where the left rotating shaft and the right rotating shaft are butted, and the rocker arm is connected with the servo actuator through a pin shaft.
The inner ring of the rolling bearing and the left rotating shaft are in a shaft hole transition fit relation, the hole of the support lug is a left rotating shaft mounting through hole, and the inner ring and the left rotating shaft are in clearance fit.
The distance between the axial direction of the wide end face of the end head and the axial position of the narrow end face of the projectile body shell is L1, the axial length of the flexible skin is L2 in an unstressed state, a pretension state can be achieved after the flexible skin eliminates a gap in the installation process, and the gap delta L = L1-L2.
The flexible skin rear end clamping ring is L-shaped section, the L-shaped section front end face coincides with the end head outline turning plane, and the axis of the rotating shaft is also located in the turning plane.
A method for controlling a double-servo driving end head swinging structure adopting a flexible skin comprises the following steps:
(1) Assembling a double-servo driving end head swinging structure;
the double-servo driving end head swinging structure comprises an end head, a flexible skin front end pressing ring, a flexible skin rear end pressing ring, a fastener, a projectile body shell and a swinging end head driving mechanism;
(2) The servo actuator of the swing end driving mechanism drives the end to swing, so that the appearance of the bullet body is changed to improve the bullet control efficiency;
(3) And adjusting the running state of the projectile body according to the projectile body control instruction until the requirement of the task is met.
In the step (1), the assembly of the double-servo driving end swinging structure specifically comprises the following steps:
connecting a left rotating shaft with the elastomer hinge support lug, sequentially penetrating an end hinge support lug, a rolling bearing, a bearing end cover, a taper pin, a rocker arm, a compression spring and a coupling sleeve from left to right, installing the bearing end cover, and installing two taper pins between the rocker arm and the left rotating shaft;
connecting the right rotating shaft with the elastomer hinge support lug, sequentially penetrating an end hinge support lug, a rolling bearing, a bearing end cover, a taper pin, a rocker arm, a compression spring and a coupling sleeve from left to right, and installing the bearing end cover;
and a servo actuator is arranged on the inner side of the end head, a flexible skin front end compression ring and a flexible skin front end compression ring are sequentially arranged, the projectile body hinge support lug is fixedly connected with the projectile body shell, and a flexible skin rear end compression ring is arranged after the connection is finished.
In the step (3), the projectile body control instruction controls the servo actuator to work through the servo controller, and therefore the swinging function of the end structure is achieved.
Compared with the prior art, the invention has the advantages that:
(1) According to the double-servo driving end swinging structure adopting the flexible skin and the control method, the double-servo driving end swinging structure is designed based on the flexible skin, and the continuous change of the appearance of a guided missile in the end swinging process can be realized. The driving structure adopts a double-servo driving design, and the requirement of single servo driving force is reduced through double-arm support so as to adapt to the characteristic of small end filling space;
(2) The flexible skin is connected and transited between the end head and the cabin body, the appearance change is continuous and smooth in the end head swinging process, the pneumatic characteristic is excellent, meanwhile, the coaxial installation of the left rotating shaft and the right rotating shaft and the bending moment balance in the bearing process are realized through the matching use of the coupling sleeve and the compression spring, and the maintenance of the appearance of the flexible skin in the swinging process is realized through the pre-tightening matching use of the flexible skin with the cylindrical flanging configuration and the front compression ring and the rear compression ring.
Drawings
FIG. 1 is a schematic view of a wobble tip according to the present invention;
FIG. 2 is a schematic view of the overall structure of the swing head according to the present invention;
FIG. 3 is a schematic view of a swing head drive mechanism provided by the present invention;
FIG. 4 is a schematic diagram of the pretensioning of the flexible skin provided by the present invention;
Detailed Description
A double-servo driving end swinging structure adopting flexible skins and a control method adopt a bilateral symmetry driving structure, utilize an internal coupling sleeve to connect, drive an end through a swinging end driving mechanism, and realize the purposes of swinging the end to change the appearance of a bullet body and improve the bullet control efficiency. The whole swing structure is designed based on the flexible skin, and the appearance of the missile is continuously changed in the end swing process. Drive structure adopts two servo drive designs, supports the demand that reduces single servo drive power through both arms and packs the little characteristics in space in order to adapt to the end, and concrete structure includes: end, flexible covering front end clamping ring, flexible covering rear end clamping ring, fastener, elastomer casing, swing end actuating mechanism, wherein:
the end head is connected with a narrow end flanging of the flexible skin, and is axially connected, matched and fixed through a front end pressing ring and a fastening piece of the flexible skin, the shell body is connected with a wide end flanging of the flexible skin, and is axially connected, matched and fixed through a rear end pressing ring and the fastening piece of the flexible skin, a swinging end head driving mechanism for driving the end head to swing to generate control force is arranged in a shell consisting of the end head, the flexible skin and the shell body, and the swinging end head driving mechanism drives the end head to swing to change the appearance of the shell body and improve the control efficiency of the shell head;
the swing end driving mechanism is bilaterally symmetrical, taking a left side structure as an example, and comprises a left rotating shaft, a projectile body hinge support lug, an end hinge support lug, a rolling bearing, a bearing end cover, a taper pin, a rocker arm, a compression spring, a coupling sleeve, a servo actuator and a fastener, wherein the left rotating shaft and the projectile body hinge support lug are fixedly connected through the fastener, the projectile body hinge support lug is simultaneously and fixedly connected to a projectile body shell through the fastener, the end hinge support lug is arranged on the inner side of the end, the outer ring of the rolling bearing is connected with an inner hole of the end hinge support lug, the bearing end cover is fixedly connected with the end hinge support lug through the fastener, the bearing end cover is simultaneously in pressure tight fit with the rolling shaft, the rocker arm is fixedly connected with the left rotating shaft through the taper pin, the compression spring and the coupling sleeve are both sleeved on the left rotating shaft, the coupling sleeve is supported by the compression springs on both sides to keep balance at the center position where the left rotating shaft and the right rotating shaft are butted, and the rocker arm is connected with the servo actuator through the pin;
the preferred rolling bearing inner ring and left rotating shaft are in shaft hole transition fit, the support lug is provided with a through hole for the left rotating shaft, and the left rotating shaft and the support lug are in clearance fit.
When the flexible skin is installed, a flexible skin tension presetting scheme needs to be preset, the distance L1 between the axial station position of the rear end face of the end head and the axial station position of the front end face of the elastomer shell is equal to the axial length L2 of the cylindrical flexible skin in a non-stressed state, and the flexible skin pretension is achieved by eliminating the clearance delta L = L1-L2 in the process of installing the flexible skin. The rear end pressure ring 4 of the flexible skin is of an L-shaped section, the front end face of the L-shaped section is superposed with the appearance transition section, and the axis of the rotating shaft is also positioned in the section.
According to the end head swing structure, a method for controlling the double-servo drive end head swing structure by adopting a flexible skin is provided, and the method comprises the following specific steps:
(1) Assembling a double-servo driving end swinging structure;
the double-servo driving end swinging structure comprises an end, a flexible skin front end pressing ring, a flexible skin rear end pressing ring, a fastener, a projectile body shell and a swinging end driving mechanism;
the assembly of the double-servo driving end swinging structure specifically comprises the following steps:
connecting a left rotating shaft with an elastic body hinge support lug, sequentially penetrating an end hinge support lug, a rolling bearing, a bearing end cover, a taper pin, a rocker arm, a compression spring and a coupling sleeve from left to right, installing the bearing end cover, and installing two taper pins between the rocker arm and the left rotating shaft;
connecting the right rotating shaft with the elastomer hinge support lug, sequentially penetrating an end hinge support lug, a rolling bearing, a bearing end cover, a taper pin, a rocker arm, a compression spring and a coupling sleeve from left to right, and installing the bearing end cover;
installing a servo actuator on the inner side of the end head, sequentially installing a flexible skin front end pressing ring and a flexible skin front end pressing ring, fixedly connecting the elastic body hinge support lug with the elastic body shell, and installing a flexible skin rear end pressing ring after the connection is finished;
(2) The servo actuator of the swing end driving mechanism drives the end to swing, so that the appearance of the bullet body is changed to improve the bullet control efficiency;
(3) And adjusting the running state of the projectile body according to the projectile body control instruction until the requirement of the task is met.
The projectile body control instruction controls the servo actuator to work through the servo controller, and then the swinging function of the end structure is achieved.
In the swing mechanism, the end and the cabin body are connected and transited by adopting the flexible skin, the appearance change of the end in the swing process is continuous and smooth, the pneumatic characteristic is excellent, meanwhile, the power requirement of a single servo driver is reduced by adopting double-arm driving, the parallel installation of the driver can be realized in a smaller end space, the balance of bending moment during the coaxial installation and bearing of the left and right rotating shafts is realized by using the coupling sleeve and the compression spring in a matched manner, and the maintenance of the appearance of the flexible skin in the swing process is realized by using the flexible skin with a cylindrical flanging configuration in a pre-tightening and matching manner with the front and rear compression rings.
The following is further illustrated in connection with specific examples:
in the embodiment, the mode that the control force is generated by swinging the end of the missile is adopted, the control force is positioned at the front end of the missile and is far away from the center of mass, the control efficiency is high, meanwhile, the envelope of the missile cannot be increased without adding an additional control surface, the control mode is a control mode which is suitable for the requirement of a novel missile, and the function implementation mode is shown in figure 1.
As shown in fig. 2, the shell structure of the swing end is specifically an end 1, a flexible skin front end compression ring 2, a flexible skin 3, a flexible skin rear end compression ring 4 and a projectile body shell 5, and the connection matching mode is as follows: the end head 1, the front end flanging of the flexible skin 3 and the front end pressing ring 2 of the flexible skin are axially connected and matched through a fastener, and the elastomer shell 5 and the rear end flanging of the flexible skin 3 are axially connected and matched with the rear end pressing ring 4 of the flexible skin through a fastener;
as shown in fig. 3, the driving structure is a parallel driving structure, the driving structure is bilaterally symmetrical and connected through a coupling sleeve 14, and the left driving structure includes the following components in sequence from left to right: the device comprises a left rotating shaft 6, a projectile hinge support lug 7, an end hinge support lug 8, a rolling bearing 9, a bearing end cover 10, a taper pin 11, a rocker arm 12, a compression spring 13, a coupling sleeve 14 and a servo actuator 15. The connection and matching mode is as follows: the left rotating shaft 6 is fixedly connected with the elastic body hinge support lug 7 through a fastener; the elastic body hinge support lug 7 is fixedly connected with the elastic body shell 5 through a fastener; the end socket hinge support lug 8 is a part of the integral structure of the end socket 1; the outer ring of the rolling bearing 9 and the inner hole of the end hinge support lug 8; the inner ring of the rolling bearing 9 and the left rotating shaft 6 are in a shaft hole matching relationship; the bearing end cover 10 is fixedly connected with the end head hinge support lug 8 through a fastener and is in press fit with the rolling bearing 9; the rocker arm 12 is fixedly connected with the left rotating shaft 6 through a taper pin 11; the compression spring 13 and the coupling sleeve 14 are both sleeved on the left rotating shaft 6, and the supporting force of the coupling sleeve 14 generated by the pre-compression amount of the compression springs at the two sides keeps balance at the center position of the butt joint of the left rotating shaft and the right rotating shaft; the rocker arm 12 is connected to the servo actuator 15 by means of a pin.
The assembling process specifically comprises the following steps:
firstly, mounting a driving structure, wherein the driving structure is bilaterally symmetrical, taking the installation of the left driving structure as an example, firstly, a left rotating shaft 6 is connected with a projectile body hinge support lug 7, sequentially penetrates through an end hinge support lug 8, a rolling bearing 9, a bearing end cover 10, a taper pin 11, a rocker arm 12, a compression spring 13 and a coupling sleeve 14 from left to right, mounts 2 taper pins 11, repeats the process to mount a right driving structure, mounts a servo actuator 15, mounts a flexible skin front end press ring 2 and a flexible skin 3, fixedly connects the projectile body hinge support lug 7 with a projectile body shell 5, and mounts a flexible skin rear end press ring 4.
As shown in fig. 4, in the process of presetting the tension of the flexible skin, the axial station distance L1 between the rear end face of the end head and the front end face of the shell body, the axial length L2 of the cylindrical flexible skin in the unstressed state, and the pretension of the flexible skin is realized by eliminating the gap Δ L = L1-L2 in the process of installing the flexible skin. The rear end pressure ring 4 of the flexible skin is of an L-shaped section, the front end face of the L-shaped section is superposed with the appearance transition section, and the axis of the rotating shaft is also positioned in the section.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make possible variations and modifications of the present invention using the method and the technical contents disclosed above without departing from the spirit and scope of the present invention, and therefore, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention are all within the scope of the present invention.
Those matters not described in detail in the present specification are well known to those skilled in the art.
Claims (1)
1. The utility model provides an adopt flexible skin's two servo drive end swing structure which characterized in that: the end socket is connected with a narrow-end flanging of the flexible skin and is axially connected, matched and fixed through the flexible skin front-end pressing ring and the fastener, the elastomer shell is connected with a wide-end flanging of the flexible skin and is axially connected, matched and fixed through the flexible skin rear-end pressing ring and the fastener, the swing end socket driving mechanism for driving the end socket to swing to generate control force is arranged in a skin shell consisting of the end socket, the flexible skin and the elastomer shell, and the swing end socket driving mechanism drives the end socket to swing to change the appearance of the elastomer and improve the control efficiency of the elastomer;
the swing end driving mechanism comprises a left rotating shaft, a projectile body hinge support lug, an end hinge support lug, a rolling bearing, a bearing end cover, a taper pin, a rocker arm, a compression spring, a coupling sleeve, a servo actuator and a fastener, wherein the left rotating shaft and the projectile body hinge support lug are fixedly connected through the fastener, the projectile body hinge support lug is simultaneously and fixedly connected to a projectile body shell through the fastener, the end hinge support lug is arranged on the inner side of the end, the outer ring of the rolling bearing is connected with an inner hole of the end hinge support lug, the bearing end cover is fixedly connected with the end hinge support lug through the fastener, the bearing end cover is simultaneously in pressure tight fit with a rolling shaft, the rocker arm and the left rotating shaft are fixedly connected through the taper pin, the compression spring and the coupling sleeve are both sleeved on the left rotating shaft, the coupling sleeve is supported by the compression springs on two sides to keep balance at the center position where the left rotating shaft and the right rotating shaft are butted, and the rocker arm is connected with the servo actuator through a pin shaft;
the inner ring of the rolling bearing and the left rotating shaft are in a shaft hole transition fit relationship, the opening of the support lug is a left rotating shaft mounting through hole, and the inner ring and the left rotating shaft are in clearance fit;
the axial distance between the wide end face of the end head and the narrow end face of the projectile body shell is L1, the axial length of the flexible skin is L2 in an unstressed state, a pretension state can be realized after the flexible skin eliminates a gap in the installation process, and the gap delta L = L1-L2;
the method for controlling the double-servo driving end head swinging structure by adopting the flexible skin comprises the following steps:
(1) Assembling a double-servo driving end swinging structure;
the double-servo driving end swinging structure comprises an end, a flexible skin front end pressing ring, a flexible skin rear end pressing ring, a fastener, a projectile body shell and a swinging end driving mechanism;
(2) The servo actuator of the swing end driving mechanism drives the end to swing, so that the appearance of the bullet body is changed to improve the bullet control efficiency;
(3) Adjusting the running state of the projectile body according to the projectile body control instruction until the requirement of a task is met;
in the step (1), the assembly of the double-servo driving end swinging structure specifically comprises the following steps:
connecting a left rotating shaft with an elastic body hinge support lug, sequentially penetrating an end hinge support lug, a rolling bearing, a bearing end cover, a taper pin, a rocker arm, a compression spring and a coupling sleeve from left to right, installing the bearing end cover, and installing two taper pins between the rocker arm and the left rotating shaft;
connecting the right rotating shaft with the elastomer hinge support lug, sequentially penetrating an end hinge support lug, a rolling bearing, a bearing end cover, a taper pin, a rocker arm, a compression spring and a coupling sleeve from left to right, and installing the bearing end cover;
installing a servo actuator on the inner side of the end head, sequentially installing a flexible skin front end pressing ring and a flexible skin front end pressing ring, fixedly connecting the elastic body hinge support lug with the elastic body shell, and installing a flexible skin rear end pressing ring after connection is finished;
in the step (3), the projectile body control instruction controls the servo actuator to work through the servo controller, so that the swinging function of the end structure is realized;
the flexible skin comprises a flexible skin, an end surface, a rotating shaft, a connecting piece and a connecting piece, wherein the flexible skin is provided with a rear end pressing ring which is an L-shaped section, the front end surface of the L-shaped section is superposed with the appearance transition section, the axis of the rotating shaft is also positioned in the section, the front end surface of the L-shaped section is superposed with the end appearance profile turning surface, and the axis of the rotating shaft is also positioned in the turning surface.
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| CN202110475784.3A CN113280690B (en) | 2021-04-29 | 2021-04-29 | Double-servo driving end swinging structure adopting flexible skin and control method |
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| KR102488934B1 (en) * | 2022-06-08 | 2023-01-18 | 국방과학연구소 | Front cover with two-way thrust separation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3267517D1 (en) * | 1981-04-08 | 1986-01-02 | Commw Of Australia | Directional control device for airborne or seaborne missiles |
| DE3628152C1 (en) * | 1986-08-19 | 1987-09-10 | Messerschmitt Boelkow Blohm | Missile with aerodynamic control |
| DE3815290C1 (en) * | 1988-05-05 | 1989-08-17 | Messerschmitt-Boelkow-Blohm Gmbh, 8012 Ottobrunn, De | |
| DE102004043758A1 (en) * | 2004-09-10 | 2006-03-30 | Diehl Bgt Defence Gmbh & Co. Kg | Missile head and method for steering a missile |
| CN104627355A (en) * | 2014-12-01 | 2015-05-20 | 西北工业大学 | Deflection control device based on head of aircraft |
| CN104938072B (en) * | 2015-05-29 | 2016-11-02 | 浙江理工大学 | Double balancing cylinder transverse horizontal control device |
| CN206336259U (en) * | 2016-12-06 | 2017-07-18 | 绍兴中器机械有限公司 | A kind of gantry reciprocating type bus car washer that there is lifting to rotate spray equipment |
| CN109029158A (en) * | 2018-08-30 | 2018-12-18 | 南京理工大学 | A kind of controllable explosion-proof bullet based on bullet asymmetry |
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