CN114275189A - Fixing and recovering device for underwater launching simulation of navigation device - Google Patents
Fixing and recovering device for underwater launching simulation of navigation device Download PDFInfo
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- CN114275189A CN114275189A CN202111639626.3A CN202111639626A CN114275189A CN 114275189 A CN114275189 A CN 114275189A CN 202111639626 A CN202111639626 A CN 202111639626A CN 114275189 A CN114275189 A CN 114275189A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The invention discloses a fixing and recovering device for simulating underwater launching of a navigation device, which comprises: the launching device of the navigation device comprises a launching unit of the navigation device and a fixing device matched with the launching unit of the navigation device and used for adjusting the posture; the restraint device is used for recovering the launched navigation device; a water tank; the launching device and the fixing device are respectively arranged at two ends of the water tank, the fixing device and the restraining device are connected through a matched traction positioning rope, and the navigation device is arranged on the traction positioning rope. The invention provides a fixing and recovering device for simulating underwater launching of a navigation device, which can simulate the motion track of the navigation device underwater to meet the requirement of simulating the motion of the navigation device under different scenes, and further guide the navigation track by a traction positioning rope for constraint to prevent unsafe factors caused by accidental flying.
Description
Technical Field
The invention relates to a launching simulator of a navigation device. More particularly, the invention relates to a fixing and recovery device for use in simulating underwater launch of a navigation device.
Background
Compared with a common navigation device, the submarine-launched navigation device enters the air to start an engine to normally fly after three stages of launching the submarine-launched navigation device out of a barrel, navigating underwater and running out of water. Although the duration of the three stages and the movement distance of the navigation device are short, the mechanical environment of the surface of the navigation device is complicated to change when the cavitation multi-phase fluid moves through the three stages. Therefore, the underwater launching process of the submarine launching navigation device needs to be simulated so as to optimize the underwater motion track and stress condition of the navigation device for analysis and design and ensure the successful launching of the navigation device.
The launching simulation of the navigation device in the prior art generally freely launches the navigation device without constraining the navigation device, so that potential safety hazards exist in the launching process of the navigation device, and meanwhile, the existing equipment lacks a navigation device constraining device, so that the test environment required by equipment simulation is harsh, the unpredictability is high, and the success rate is low.
Disclosure of Invention
An object of the present invention is to solve at least the above problems or disadvantages and to provide at least the advantages described hereinafter.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided a fixing and recovering device for underwater launch simulation of a navigation device, comprising:
the launching device of the navigation device comprises a launching unit of the navigation device and a fixing device matched with the launching unit of the navigation device and used for adjusting the posture;
the restraint device is used for recovering the launched navigation device;
a water tank;
the launching device and the fixing device are respectively arranged at two ends of the water tank, the fixing device and the restraining device are connected through a matched traction positioning rope, and the navigation device is arranged on the traction positioning rope.
Preferably, the fixing device is configured to include:
a first support frame for supporting the emission unit;
the connecting mechanism and the hanging basket are used for fixing the front end and the rear end of the transmitting unit respectively;
the first adjusting component and the second adjusting component are respectively matched with the connecting mechanism and the hanging basket so as to carry out spatial position limitation and three-axis attitude adjustment on the front end and the rear end of the launching unit;
wherein the first adjustment component is configured to include:
a first actuator for adjusting the posture of the transmitting unit on the Z axis;
the first limiting mechanism is matched with the connecting mechanism to guide and restrict the position change of the transmitting unit on the Z axis;
the second adjustment component is configured to include:
the second executing mechanism is used for respectively adjusting the postures of the transmitting unit on the X axis and the Y axis;
and the base is matched with the hanging basket and the second actuating mechanism so that the launching unit can realize horizontal deviation on an X axis and a Y axis.
Preferably, the first actuator and the second actuator are both configured to include a motor and a screw rod matched with the motor;
nuts matched with the screw rods are respectively arranged on the first support frame;
the first confinement mechanism is configured to include:
the first vertical guide rails are arranged on two sides of the connecting mechanism;
the first connecting piece is used for fixing the first actuating mechanism and is in a U-shaped structural layout;
the first connecting shaft is used for driving and connecting the first connecting piece with the vertical guide rail;
the shaft disc is arranged on the connecting mechanism;
the shaft disc is connected with the first connecting piece through a yaw bearing penetrating through the first connecting shaft, and two ends of the first connecting shaft are respectively connected with the sliding block on the first vertical guide rail through the first corner contact bearing matched with the first corner contact bearing;
the base is configured to include:
a bottom plate matched with the hanging basket;
the pin joint sets up in the bottom plate both sides, for each second actuating mechanism provides the engaging lug of installation position.
Preferably, the restriction device is configured to include:
a second support frame;
the tensioner is used for fixing one end of the traction positioning rope and is in a U-shaped structural layout;
the third actuating mechanism is used for adjusting the position of the traction positioning rope mounting position on the Z axis;
the second limiting mechanism is used for guiding and constraining the position adjustment of the third actuating mechanism on the Z axis;
the second connecting piece is used for fixing the third actuating mechanism and is in a U-shaped structural layout;
wherein, the tensioner and the second connecting piece are respectively connected with the second limiting mechanism.
Preferably, the second limiting mechanism is configured to include:
the second vertical guide rails are arranged on two sides of the third actuating mechanism;
the second connecting shaft is used for driving and connecting the second connecting piece and the second vertical guide rail;
two ends of the second connecting shaft are respectively connected with the sliding block on the second vertical guide rail through the matched second angular contact bearings;
the second connecting shaft is configured to penetrate the tensioner and the second connecting piece respectively.
Preferably, the restriction device further comprises:
the first chuck is arranged at the front end of the tensioner and used for realizing quick release of the traction positioning rope, and the first chuck is configured to comprise a first chuck base connected with the tensioner and a nut matched with the first chuck base;
the recovery cylinder is arranged at the front end of the first chuck and used for buffering the recovery speed of the navigation device;
the first chuck base is provided with a fixed end which can extend into the nut, and the upper surface of the first chuck base is provided with threads matched with the nut;
the front end of the fixed end is provided with an extension part with a conical structure, and a notch matched with the extending direction of the plurality of traction positioning ropes is arranged on the extension part;
blind holes for the traction positioning rope to extend into are formed in the fixed end and the extension part;
the nut is internally provided with a fixing groove matched with the fixing end, and the end face of the nut is provided with a conical groove communicated with the fixing groove.
Preferably, the recycling bin is configured to include a flared leading end and a buffer section fitted thereto;
and the inside of the buffer section is provided with a columnar sponge in an infiltration shape.
Preferably, a plurality of universal wheels which can be folded and turned are arranged below the restraining device and the launching device;
the device comprises a launching device, a restraining device, a first supporting frame, a second supporting frame, a mounting plate and a plurality of jacks, wherein the first supporting frame and the second supporting frame are matched with the launching device and the restraining device, the plurality of jacks are matched with the first supporting frame and the second supporting frame through the mounting plate, the mounting plate is arranged at the bottoms of the first supporting frame and the second supporting frame in a staggered mode, or through holes for the jacks to extend out are formed in the bottoms of the first supporting frame and the second supporting frame.
Preferably, the transmitting unit is configured to include:
the launching tube is provided with a fixed latch matched with the traction positioning rope;
a high pressure air chamber communicated with the launching tube to input launching air pressure;
a low-pressure control air chamber which is matched with the high-pressure air chamber to control the air charging and discharging of the high-pressure air chamber;
the fixed latch is provided with a second chuck which can quickly sleeve the navigation device on the traction positioning rope;
the high-pressure air chamber, the low-pressure control air chamber and the launching tube are communicated through a T-shaped or cross-shaped high-pressure control air chamber which is matched with the launching tube, and a main piston for switching the conduction state of the high-pressure control air chamber is also arranged in the high-pressure control air chamber;
the high-pressure control air chamber is communicated with the low-pressure control air chamber through the emission control air chamber, and a high-pressure air release port for performing force unloading operation on the high-pressure control air chamber is arranged on the high-pressure control air chamber;
a matched piston group is arranged between the low-pressure control air chamber and the emission control air chamber, and a matched low-pressure air release port is arranged on one side of a first air injection port of the low-pressure control air chamber;
and a second gas injection port and a third gas injection port which are matched with the high-pressure control gas chamber and the high-pressure gas chamber are arranged on the high-pressure control gas chamber.
The invention at least comprises the following beneficial effects: firstly, the fixing and recovering device can simulate the motion trail of the navigation device underwater to meet the requirement of simulating the motion of the navigation device under different scenes, and further guide the navigation trail of the navigation device by a traction positioning rope for constraint to prevent unsafe factors caused by unexpected flying of the navigation device for tests.
Secondly, the structure of the fixing device is designed, so that the fixing device can be used for three-axis adjustment when the navigation device launches, and the pitch angle (attack angle) ± 10 degrees and the precision +/-0.3 degrees can be ensured; the horizontal azimuth angle (yaw angle) ± 5 °, and the precision ± 0.3 °; the launching height is adjusted within the range of 0.5-2 meters, the precision is adjusted within +/-5 mm, the requirement of analog measurement of the navigation device is met, and meanwhile, the service life is ensured to be controllable during the underwater analog measurement through structural limitation.
Thirdly, the recovery device is limited in structure, so that the later-stage movement speed of the navigation device can be partially absorbed, the impact force of the navigation device on recovery is reduced, and the effective length of the simulation equipment can be effectively shortened.
Fourthly, the jacks and the universal wheels which are matched with each other are arranged below the fixing device and the recovery device, so that the equipment can complete position adjustment of short span, the hoisting cost is saved, and the requirements on the site are reduced.
Fifth, the invention sets up the structural design to the transmitting unit, make it can be through switching over the working mode of each part, realize the soft control of transmitting, its working effectiveness and controllability are better.
Sixth, the fixing device and the recovery device are structurally designed, so that the test model has wider launching height and angle, stronger driving capability of the test model can be built, the test model can reach higher running speed, and water can be discharged and discharged according to a certain inclination angle. And forming a high-speed driving capability of the underwater navigation device model, and providing technical support for related research of the underwater navigation device.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic top view of a securing and recovery device for simulating underwater launch of a navigation device according to an embodiment of the present invention;
FIG. 2 is a schematic side view of a securing and recovery device for simulating underwater launch of a navigation device according to an embodiment of the present invention;
FIG. 3 is a side view of a fastening device according to an embodiment of the present invention;
FIG. 4 is an enlarged, fragmentary, schematic view of a first actuator of the holding device of FIG. 3;
FIG. 5 is an enlarged rear view of the first actuator of the fixing apparatus of FIG. 4;
FIG. 6 is an enlarged backside view of a second actuator according to an embodiment of the present invention;
FIG. 7 is an enlarged schematic view of a second actuator engaged with a basket in an embodiment of the present invention;
FIG. 8 is a side view of a restraint device in accordance with an embodiment of the invention;
FIG. 9 is an enlarged schematic view of a third actuator;
FIG. 10 is an enlarged side view of the third actuator;
FIG. 11 is a bottom view of the structure of FIG. 9;
FIG. 12 is an exploded view of the first chuck in accordance with one embodiment of the present invention;
FIG. 13 is a cross-sectional view of the first chuck as shown in FIG. 12;
FIG. 14 is a schematic cross-sectional view of a recovery tank according to an embodiment;
FIG. 15 is a schematic cross-sectional view of an emitter unit according to the present invention;
FIG. 16 is a view showing an underwater launching simulation system of a navigation device to which the fixing and recovering device of the present invention is applied.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
It is to be understood that in the description of the present invention, the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are used only for convenience in describing the present invention and for simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise specifically stated or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are used in a broad sense, and for example, "connected" may be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements.
Fig. 1-2 show an implementation of a fixing and recovery device for underwater launch simulation of a navigation device according to the invention, comprising:
a launching device 1 of a navigation device, which comprises a launching unit 110 of the navigation device and a fixing device 120 matched with the launching unit for the navigation device for posture adjustment;
a restraint device 2 for recovering the launched navigation device;
a water tank 3;
wherein, emitter, fixing device set up respectively at the both ends of basin, just fixing device and restraint device are connected through matched with traction location rope 4, navigation device sets up on the traction location rope, in this scheme, navigation device comprises emitter and restraint device under restraint emission mode, and the centre is connected by a traction location rope, and restraint device places in the basin other end relative with emitter, and model emission system possesses free emission mode and restraint emission mode. During the free launch mode, the model is from the launching tube separation back, freely go into water, during the transmission of restraint mode, draw the location rope by a tensioning and pass the launching tube, the structure with the launching unit afterbody links to each other, the whole course of motion of model is by drawing the location rope restraint, realize launching the recovery of navigation device to the launching device through recovery unit, and in the basin, can set up a plurality of monitoring points positions that carry out the detection to corresponding parameters such as speed of navigation device as required, in order to satisfy the test of navigation device simulation under water, in this scheme, through the cooperation of launching device and restraint device, the requirement to the test under water of navigation device has been realized, provide corresponding technical index for the navigation device improvement and the parameter simulation in later stage.
As shown in fig. 3-7, in another example, the fixture is configured to include:
the first support frame 121 is used for supporting and limiting the spatial position of the launching unit, a rack (first support frame) of the launching device is used for supporting the launching device and adjusting the launching posture, and all recoil generated during launching is absorbed, a set of firm and firm launching device rack plays a decisive role in ensuring the stability of the launching device in the launching process, a skid-mounted mode can be adopted in actual operation, all equipment is installed on a platform, and when the equipment is unfolded, the launching device cabinet, the constraint device cabinet and the control cabinet are connected through Ethernet interfaces, and then deployment can be completed;
the front end and the rear end of the launching unit are respectively fixed by a connecting mechanism 122 and a hanging basket 123, in actual operation, the connecting mechanism comprises a connecting plate and a fixing piece for fixing a launching tube of the launching unit on the connecting plate, the hanging basket is used for supporting and positioning the tail of the launching unit, and in actual operation, the hanging basket can be provided with a notch for avoiding the launching unit as required;
the first adjusting component 124 and the second adjusting component 125 are respectively matched with the connecting mechanism and the hanging basket to perform space position limitation and three-axis attitude adjustment on the front end and the rear end of the launching unit, and in the structure, the angle and position adjustment of the launching unit on X, Y, Z three axes is completed through the matching of the first adjusting component and the third adjusting component so as to be matched with actual test parameter requirements;
wherein the first adjustment component is configured to include:
a first actuator 1241 for adjusting the posture of the firing unit in the Z-axis, and the first actuator functions to adjust the height of the front end of the firing unit up and down;
the first limiting mechanism 1242 is matched with the connecting mechanism to guide and restrict the position change of the launching unit on the Z axis, and restricts the adjusting angle or the position of the launching unit under the action of the first limiting mechanism in actual operation, so as to ensure that the adjusting effect meets the use requirement;
the second adjustment component is configured to include:
a second actuator 1251 for adjusting the postures of the emitting unit on the X axis and the Y axis, respectively, the second actuator being used to adjust the offset angle of the emitting unit in a matching manner;
the base 1252 is matched with the hanging basket and the second actuating mechanism to enable the launching unit to realize horizontal deflection on an X axis and a Y axis, in the structure, the deflection of the launching unit on the horizontal position tends to influence the position of the hanging basket in operation, the pulling force generated in the single angle adjusting process can be neutralized through the matching of the base, the launching unit is ensured not to be damaged in the working process, in the actual operation, only the yaw angle of the launching mechanism can be finely adjusted after the equipment is installed, the yaw collision of a high-speed navigation device on a water tank is avoided, the yaw angle deflection is small, but the precision requirement is high, certainly, a set of independent power equipment and a set of independent rotating platform can be adopted to control the yaw angle, the functional requirement can be satisfied, the complexity and the stability of the attitude adjusting mechanism can be influenced, and a set of electrical equipment is not used for a long time in a moisture environment, the fault probability is increased, and on the other hand, the construction cost is also increased, so the second adjusting mechanism is designed to meet the requirements of the attitude adjusting mechanism by adopting power equipment and moving joints as few as possible so as to achieve the aims of reducing the construction cost and improving the stability of the equipment, and the attitude adjusting mechanism in the scheme can complete all specified actions by only using three motors, namely, the pitch angle (attack angle) is +/-10 degrees, and the precision is +/-0.3 degrees; the horizontal azimuth angle (yaw angle) ± 5 °, and the precision ± 0.3 °; the launching height is adjusted within the range of 0.5-2 m, the precision is +/-5 mm, in addition, in the design of an adjusting mechanism, sufficient allowance is reserved for each specified attitude angle, the wide water surface incidence angle is ensured to be selectable after the large-scale field is replaced, and the test type is widened.
In another example, as shown in fig. 3-7, the first actuator and the second actuator are configured to include a motor a 1243, a motor B1253 and a screw a 1244 and a screw B1254 which are engaged with the motor B1253, and in actual operation, after each actuator requires that the posture is adjusted in place, the adjusting device has a locking function, so the present solution adopts a sliding screw rod (screw) as a power conversion device of the adjusting mechanism in cooperation with a cross-hole nut (i.e. the direction of the screw hole is a transverse device, rather than in cooperation with the length direction of a fixed screw rod), when a shaft of the motor rotates to drive the screw rod to rotate, the screw rod can move in the cross-hole nut, and when the motor stops rotating, the screw rod and the cross-hole nut are locked with each other by virtue of the characteristic that the sliding screw rod unidirectionally transmits power, so as to complete the locking function without adding an additional locking component. As a core component for attitude adjustment, the screw pitch of the screw rod is 0.5mm, the motor rotates for one circle, the displacement change of the screw rod in the direction is only 0.5mm, and the requirement on attitude control accuracy can be completely met under the condition that the servo motor accurately controls the rotating speed and the angle. And a front motor in the first actuating mechanism is responsible for lifting the front part of the launching tube, and two rear motors are responsible for lifting and yaw positioning of the tail part of the launching unit. The extension length of the motor screw rod can be positioned at any point in the plane of the motor shaft by adjusting the single side, the gun tail is kept stable by matching with gravity (the dead weight of the launching unit is 2.3 tons), and the position of any point in the plane can be determined by adjusting the length of the X, Y shaft.
The first support frame is respectively provided with a nut A1245 and a nut B1255 which are matched with each screw rod;
the first confinement mechanism is configured to include:
the first vertical guide rails 1246 are arranged at two sides of the connecting mechanism, in actual use, the first vertical rails are responsible for height adjustment of the front part of the launching tube and completely limit the front and back movement of the launching tube, and recoil and tension of the tensioning, pulling and positioning rope are all absorbed and borne by the vertical rails in the use process, namely, the stress borne by a main force bearing part is 25MPa in the actual operation of launching, while the allowable stress of the vertical rail material is 200MPa, so that the recoil absorption rail strength of the launching device meets the requirement;
a first connecting member 1247 for fixing the first actuator and having a U-shaped configuration, for supporting and positioning the first actuator;
a first connecting shaft 1248 for driving the first connecting member to the vertical guide rail, the first connecting shaft serving to fix the first connecting member, on which the first actuator is mounted, to the first vertical guide rail;
a shaft disc 1249 arranged on the connecting mechanism, wherein the shaft disc has a function that one end is fixed with the connecting mechanism, and the other end can still extend into the fixing part of the yaw bearing, i.e. in actual operation, the lower end of the yaw bearing is provided with a hole which can extend from the fixing part, and one side with the hole is arranged into a contraction structure, so that the stability of connection between the two is ensured, and the yaw bearing can rotate along the axis;
the shaft disc is connected with the first connecting piece through a yaw bearing 1248a penetrating through the first connecting shaft, two ends of the first connecting shaft are respectively connected with a sliding block 1248c on the first vertical guide rail through a first angle contact bearing 1248b matched with the first connecting shaft, the first angle contact bearing is used for enabling the first connecting shaft to rotate for a certain angle along the axis, and further enabling the first connecting shaft to have left and right deviation margins when being matched with a second executing mechanism behind for angle imitation deviation, and the left and right deviation margins can completely meet the actual adjustment requirement of 2-degree left and right deviation;
the base is configured to include:
a bottom plate 1256 matched with the hanging basket;
the pivoting is arranged at both sides of the bottom plate to provide the connecting lug 1257 of the installation position for each second actuating mechanism, in the structure, the space position of the hanging basket is supported and limited by the bottom plate, and the position of the hanging basket can be shifted according to the requirement by the pivoting connecting lug, so that the interference between the structural parts can be avoided when the hanging basket is adjusted, the adjustment effect meets the use requirement, particularly, when the height of the whole transmitting unit is required to be adjusted, the whole transmitting unit is lifted in a three-machine linkage mode, and when the pitch angle is adjusted, only the front end is adjusted up and down, and when the offset angle is required to be adjusted, any one of the second actuating mechanisms is adjusted to realize, and because the transmitting unit is arranged in the hanging basket which is arranged on the base, namely the hanging basket is installed in a split type, when the first actuating mechanism adjusts the space height up and down, the connection of the transmitting unit with other units is not affected.
In another example, as shown in fig. 8-11, the restraining device is configured to include:
the second support frame 21 is used for supporting and fixing, and in actual operation, a framework structure is adopted, and the framework are distributed in a matched triangular structure, so that the stability of the structures is ensured;
the tensioner 22 is used for fixing one end of the traction positioning rope and is in a U-shaped structural layout, in actual operation, the tensioner is set to be an electric tensioner, the length of the traction positioning rope can be enlarged when the traction positioning rope is installed, and the traction positioning rope is tensioned in an electric control mode after the installation is finished so as to ensure that the navigation of the navigation device is not influenced;
the third actuating mechanism 23 is used for adjusting the position of the installation position of the traction positioning rope on the Z axis, has the same structure as the first actuating mechanism, comprises a motor, a screw rod and a transverse nut, and is used for adjusting the space height of the recovery device;
a second limiting mechanism 24 for guiding and limiting the position adjustment of the third actuator on the Z axis;
a second connecting member 25 for fixing the third actuator and having a U-shaped configuration;
in order to meet various requirements of launching height and launching angle in the constraint mode, in the structure, the limitation mechanism, the tensioner and the second connecting piece are connected to ensure that the parts keep high consistency when the height is adjusted, so that the constraint device in the constraint mode also needs to have a function of synchronous positioning with the launching angle set by the launching device, and the constraint mode launching support frame also has the parts which are the same as the horizontal height adjusting structure of the launching device to complete the functions and realize linkage with the launching device.
In another example, the second limiting mechanism is configured to include:
the second vertical guide rails 240 disposed on both sides of the third actuator have the same structure and performance indexes as those of the first vertical guide rails, and therefore, they will not be described again;
a second connecting shaft 241 for driving and connecting the second connecting member with the second vertical guide rail, wherein in the actual operation, the electric tensioner is arranged on the rotating shaft (the second connecting shaft) of the vertical guide rail, can automatically synchronize with the vertical guide rail when adjusting the height according to the launching angle set by the launching device while completing the horizontal adjustment, after completing the matching of each component at one end of the launching device in sequence, the navigation device model is pushed into the entrance of the launching tube by the push rod, the power supply of the traction positioning rope tensioner at one end of the restraint device is started, the launching end screws the fixed latch into the tail part of the launching unit while slowly tightening the tensioner, and the filling operation of the navigation device is completed when the electric tensioner tightens the traction positioning rope to the preset tension;
two ends of the second connecting shaft are respectively connected with the sliding block on the second vertical guide rail through the matched second angular contact bearings 242;
the second connecting shaft is configured to penetrate through the tensioner and the second connecting piece respectively, and in actual operation, the second connecting shaft penetrates through the second angle contactor in the upper sliding block of the vertical guide rail on one side respectively, is connected with the two extending connecting lugs of the tensioner and the second connecting piece in a penetrating mode, and is further connected with the second angle contactor in the upper sliding block of the vertical guide rail on the other side, so that the spatial fixing of the structural member is completed, meanwhile, a certain angle adjustment allowance is ensured, and the use requirement of equipment precision adjustment is met.
In another example, as shown in fig. 9-10 and 12-13, the restraining device further comprises:
the first chuck 26 is arranged at the front end of the tensioner to realize quick release of the traction positioning rope and is configured to comprise a first chuck base connected with the tensioner and a nut matched with the first chuck base;
the recovery cylinder 27 is arranged at the front end of the first chuck and used for buffering the recovery speed of the navigation device, and the recovery cylinder is used for buffering the speed of the movement behind the navigation device so as to effectively reduce the test length of the navigation device;
in the structure, the first chuck base 260 is provided with a fixed end 262 which can extend into the nut 261, and the upper surface of the first chuck base is provided with threads which are matched with the nut;
the front end of the fixed end is provided with an extension part 263 with a conical structure, the front end of the fixed end is provided with a notch 264 matched with the extending direction of a plurality of traction positioning ropes, the front end of the fixed end has telescopic allowance through the structural design of the notch, the insertion effect of the traction positioning ropes meets the use requirement when the traction positioning ropes are inserted, and meanwhile, the matching stability of internal structural components can be kept through the deformation of the traction positioning ropes in the later stage;
blind holes (not shown) for the traction positioning rope to extend into are formed in the fixed end and the extension part, and the matching degree of the traction positioning rope and the chuck is ensured through the arrangement of the blind holes;
the nut is inside to have with stiff end complex fixed slot 265, be provided with on the terminal surface of nut with the taper groove 266 of fixed slot intercommunication, in this kind of structure, cooperate through taper groove and extension, guarantee the matching degree between the structure.
As shown in fig. 10 and 14, in another example, the recovery drum is configured to include a flared leading end 270 and a buffer section 271 coupled thereto;
wherein, the inside column sponge 272 that is the infiltration form that is provided with of buffer segment, in this kind of structure, under the emission mode of restraint, the navigation device model is after passing through the certain distance, probably still have certain kinetic energy, this scheme sets up the recovery section of thick bamboo that a model buffering was used at recovery unit's front end, set the molding similar to loudspeaker with recovery section of thick bamboo import department, the guide model enters into in the recovery section of thick bamboo, a cylindrical sponge is placed in the section of thick bamboo, and fully soak with water, when the high-speed entering section of thick bamboo of model in, water in the sponge is extruded a section of thick bamboo, spout at a high speed through the narrow passageway between model and the section of thick bamboo inner wall, play the effect that the buffering model was strikeed, the protection model does not receive the damage, can effectively reduce the distance of test segment simultaneously.
In another example, as shown in fig. 9, a plurality of universal wheels 5 which can be folded and turned are arranged below the restraining device and the launching device;
wherein, with on emitter, restraint device matched with first support frame, the second support frame, be provided with a plurality of jacks 6 of matched with through the mounting panel, the mounting panel adopts first support frame, second support frame bottom to be the setting of staggering or at first support frame, second support frame bottom sets up the through-hole that can supply the jack to stretch out, in this kind of structure, with restraint device, the folding universal wheel of emitter bottom installation, can satisfy short distance's removal demand, and receiving and releasing of universal wheel is realized through the jack of fixing on each support frame (rack), when needing to remove the rack, raise the jack, put down the universal wheel, after the universal wheel lands, the jack pressure release, can remove the rack, make it can realize short distance position variation, with the needs that adapt to different place measurements.
As shown in fig. 3 and 15, in another example, the transmitting unit is configured to include:
the launching tube 111, which is provided with a fixed latch 112 that cooperates with the pull and position cord, is flanged to join lengths of pipe. The pipes are connected by flanges. A sealing measure is arranged between the two pipes, the sealing structure is guaranteed not to influence the flatness of the inner trajectory, the transmitting pipe adopts a single-layer seamless steel pipe, hard chromium is plated on the inner wall of the pipe, the transmitting resistance is reduced, the service life is prolonged, the length of a single pipe is about 2.5 meters, a first-level welding seam standard (100% ultrasonic wave) is adopted for welding the flange plate, and the whole surface is subjected to rust prevention treatment;
and a high pressure chamber 113 communicating with the launch tube to input the launch air pressure, in which structure the smaller the diameter of the chamber is, the stronger the pressure-bearing capacity is, regardless of the length of the chamber. The high-pressure air chamber mainly comprises an air chamber main body, a sealing groove, an end cover, a bolt and a nut. The connection between each component of the air chamber is mainly realized by bolts and nuts. In order to ensure the air tightness of the air chamber, sealing gaskets are required to be arranged between all the parts which are connected. The whole air chamber is connected to the tail part of the launching tube through a bolt and a flange. And a sealing gasket is also arranged between the gun tail and the air chamber to ensure the tightness between the gun tail and the air chamber. A low-pressure control air chamber 114 which is matched with the high-pressure air chamber to control the inflation and deflation of the high-pressure air chamber;
the fixed latch is provided with a second chuck 115 which can fast sleeve the navigation device on the traction positioning rope, the structure of the second chuck is consistent with that of the first chuck, so that the structure of the second chuck is not described, and the fixed latch has the function of fast separating the traction positioning rope from the fixed latch so as to install the navigation device in the launching unit;
the high-pressure air chamber, the low-pressure control air chamber and the launching tube are communicated through a T-shaped or cross-shaped high-pressure control air chamber 116 which is matched with the high-pressure air chamber, a main piston (piston column) 116a for switching the conduction state of the high-pressure control air chamber is further arranged in the high-pressure control air chamber, and the key for realizing launching control of the launching device is the pressure difference between the left side and the right side of the piston column. In the scheme, the left-right pressure difference of the piston column is large. The piston column moves rightwards quickly, the condition that the high-pressure piston group moves leftwards does not exist, and the gas in the gas chamber is released quickly.
The high-pressure control can be effectively reduced through the difference of the upper and lower stress areas of the piston column; when the piston column moves downwards during launching, after the high-pressure air chamber is opened, the air in the high-pressure air chamber acts on the upper surface of the whole piston column rapidly. In the whole process that the piston column moves downwards, the gas pressure in the high-pressure gas chamber is kept unchanged, and the gas in the high-pressure control gas chamber is released completely. The piston column can be effectively and quickly moved downwards. So that the gas is released more rapidly. The calculation and analysis show that the piston column not only can effectively control the opening of the high-pressure air chamber, but also can play a role in pressure reduction control;
the high-pressure control air chamber and the low-pressure control air chamber are communicated through a launching control air chamber 117, and a high-pressure air release port for performing force unloading operation on the high-pressure control air chamber is arranged on the high-pressure control air chamber;
in the structure, when the launching device is used before launching, the high-pressure control air chamber is in a closed state, and the stress below the piston group is larger than that above the high-pressure control air chamber. The launching control structure is simple, the gas pressure in the control gas chamber can be effectively reduced, and the gas in the high-pressure gas chamber can quickly and effectively push the navigation device to move in an accelerated manner, so that the launching control structure meets the working requirement of the launching device;
and a second gas injection port 116b and a third gas injection port 116c which are matched with the high-pressure control gas chamber and the high-pressure gas chamber are arranged on the high-pressure control gas chamber, and the control gas chamber for launching is also connected to the gun tail through a flange. Wherein the control air chamber divide into two control air chambers of high pressure and low pressure, separates by piston group between the air chamber, and its work flow includes:
before transmission:
the first step, open the fixed bolt, then pack the navigation device into the launching tube, then close the fixed bolt;
the second step is that: injecting gas into the low-pressure control gas chamber to a specified pressure through a gas injection port of the low-pressure control gas chamber, so that a piston group in the low-pressure control gas chamber moves leftwards, and the high-pressure control gas chamber is closed;
the third step: and closing the gas injection hole of the low-pressure control gas chamber, opening the gas injection port of the high-pressure control gas chamber, and injecting gas into the high-pressure control gas chamber to the specified pressure, so that the main piston in the high-pressure control gas chamber moves leftwards to close the high-pressure gas chamber.
The fourth step: and opening a gas injection port of the high-pressure gas chamber, and injecting gas into the high-pressure gas chamber to the specified pressure. I.e. the preparation before the transmission unit transmits is completed.
The scheme belongs to soft control, namely a control mechanism combining a piston group, an air storage chamber, a one-way valve and other mechanisms is adopted. The purpose of controlling high air pressure by using low air pressure is achieved by the air pressure difference at the two ends of the piston group and the movement of the piston group. Compared with the locking control, the launching soft control mode has good air tightness, does not need to consider locking force, and has the characteristics of reliable working and stable launching. During gas injection before emission, high-pressure gas is ensured to be only injected into the high-pressure gas chamber and not leaked to the outside of the high-pressure gas chamber. And the interior of each control air chamber is closed and does not leak air, each air chamber can be quickly opened during air discharge, the piston group moves quickly, the high-pressure air chamber is opened to be communicated with the launching tube, and a large amount of air acts on the bottom of the navigation device immediately, so that the navigation device is pushed to move forwards.
The work flow comprises the following steps: the height and angle of the launching device are adjusted, and other test preparation work is carried out. The model of the test navigation device is loaded into the launching unit by the loading mechanism, the securing latch is locked and the person leaves the launching device. And starting an air compressor to inflate the air chamber, and waiting for triggering after the specified pressure is reached. When the test instrument is triggered, the control electromagnetic valve is opened, the trigger device is launched to work, high-pressure gas enters the gun barrel to push the navigation device model to move in an accelerating mode, the navigation device model flies out from the outlet of the gun barrel, the system measures the initial speed of the navigation device after the initial speed measuring device at the muzzle, the navigation device continues to sail forwards after entering water, and after the test instrument reaches the test measurement section, the measurement system measures the height and the speed of the navigation device. And the navigation device continues to sail forward and enters the model buffer recycling cylinder, the staff collects the navigation device, and the launching process is finished.
The above scheme is merely illustrative of a preferred example, and is not limiting. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (9)
1. A fixing and recovery device for launching simulation under water of a navigation device is characterized by comprising:
the launching device of the navigation device comprises a launching unit of the navigation device and a fixing device matched with the launching unit of the navigation device and used for adjusting the posture;
the restraint device is used for recovering the launched navigation device;
a water tank;
the launching device and the fixing device are respectively arranged at two ends of the water tank, the fixing device and the restraining device are connected through a matched traction positioning rope, and the navigation device is arranged on the traction positioning rope.
2. The securing and recovery device for underwater launch simulation of a navigation device according to claim 1, wherein the securing device is configured to include:
a first support frame for supporting the emission unit;
the connecting mechanism and the hanging basket are used for fixing the front end and the rear end of the transmitting unit respectively;
the first adjusting component and the second adjusting component are respectively matched with the connecting mechanism and the hanging basket so as to carry out spatial position limitation and three-axis attitude adjustment on the front end and the rear end of the launching unit;
wherein the first adjustment component is configured to include:
a first actuator for adjusting the posture of the transmitting unit on the Z axis;
the first limiting mechanism is matched with the connecting mechanism to guide and restrict the position change of the transmitting unit on the Z axis;
the second adjustment component is configured to include:
the second executing mechanism is used for respectively adjusting the postures of the transmitting unit on the X axis and the Y axis;
and the base is matched with the hanging basket and the second actuating mechanism so that the launching unit can realize horizontal deviation on an X axis and a Y axis.
3. The device for securing and recovering underwater launching simulation of a navigation device according to claim 2, wherein the first actuator and the second actuator are each configured to include a motor and a screw rod engaged therewith;
nuts matched with the screw rods are respectively arranged on the first support frame;
the first confinement mechanism is configured to include:
the first vertical guide rails are arranged on two sides of the connecting mechanism;
the first connecting piece is used for fixing the first actuating mechanism and is in a U-shaped structural layout;
the first connecting shaft is used for driving and connecting the first connecting piece with the vertical guide rail;
the shaft disc is arranged on the connecting mechanism;
the shaft disc is connected with the first connecting piece through a yaw bearing penetrating through the first connecting shaft, and two ends of the first connecting shaft are respectively connected with the sliding block on the first vertical guide rail through the first corner contact bearing matched with the first corner contact bearing;
the base is configured to include:
a bottom plate matched with the hanging basket;
the pin joint sets up in the bottom plate both sides, for each second actuating mechanism provides the engaging lug of installation position.
4. The securing and recovering device for underwater launch simulation of a marine vessel according to claim 1, wherein the restraining device is configured to include:
a second support frame;
the tensioner is used for fixing one end of the traction positioning rope and is in a U-shaped structural layout;
the third actuating mechanism is used for adjusting the position of the traction positioning rope mounting position on the Z axis;
the second limiting mechanism is used for guiding and constraining the position adjustment of the third actuating mechanism on the Z axis;
the second connecting piece is used for fixing the third actuating mechanism and is in a U-shaped structural layout;
wherein, the tensioner and the second connecting piece are respectively connected with the second limiting mechanism.
5. The securing and recovering device for underwater launch simulation of a marine vessel according to claim 4, wherein the second defining mechanism is configured to include:
the second vertical guide rails are arranged on two sides of the third actuating mechanism;
the second connecting shaft is used for driving and connecting the second connecting piece and the second vertical guide rail;
two ends of the second connecting shaft are respectively connected with the sliding block on the second vertical guide rail through the matched second angular contact bearings;
the second connecting shaft is configured to penetrate the tensioner and the second connecting piece respectively.
6. The anchoring and recovery device for underwater launch simulation of a navigation device according to claim 1, wherein the restraint device further comprises:
the first chuck is arranged at the front end of the tensioner and used for realizing quick release of the traction positioning rope, and the first chuck is configured to comprise a first chuck base connected with the tensioner and a nut matched with the first chuck base;
the recovery cylinder is arranged at the front end of the first chuck and used for buffering the recovery speed of the navigation device;
the first chuck base is provided with a fixed end which can extend into the nut, and the upper surface of the first chuck base is provided with threads matched with the nut;
the front end of the fixed end is provided with an extension part with a conical structure, and a notch matched with the extending direction of the plurality of traction positioning ropes is arranged on the extension part;
blind holes for the traction positioning rope to extend into are formed in the fixed end and the extension part;
the nut is internally provided with a fixing groove matched with the fixing end, and the end face of the nut is provided with a conical groove communicated with the fixing groove.
7. The device for securing and recovering underwater launch simulation of a vessel as claimed in claim 6, wherein said recovery drum is configured to include a flared leading end and a buffer section fitted thereto;
and the inside of the buffer section is provided with a columnar sponge in an infiltration shape.
8. The fixing and recovering device for simulating underwater launching of a navigation device as claimed in claim 1, wherein a plurality of universal wheels capable of being folded and turned are arranged below the restraining device and the launching device;
the device comprises a launching device, a restraining device, a first supporting frame, a second supporting frame, a mounting plate and a plurality of jacks, wherein the first supporting frame and the second supporting frame are matched with the launching device and the restraining device, the plurality of jacks are matched with the first supporting frame and the second supporting frame through the mounting plate, the mounting plate is arranged at the bottoms of the first supporting frame and the second supporting frame in a staggered mode, or through holes for the jacks to extend out are formed in the bottoms of the first supporting frame and the second supporting frame.
9. The fixing and recovering device for underwater launch simulation of a navigation device according to claim 1, wherein the launching unit is configured to include:
the launching tube is provided with a fixed latch matched with the traction positioning rope;
a high pressure air chamber communicated with the launching tube to input launching air pressure;
a low-pressure control air chamber which is matched with the high-pressure air chamber to control the air charging and discharging of the high-pressure air chamber;
the fixed latch is provided with a second chuck which can quickly sleeve the navigation device on the traction positioning rope;
the high-pressure air chamber, the low-pressure control air chamber and the launching tube are communicated through a T-shaped or cross-shaped high-pressure control air chamber which is matched with the launching tube, and a main piston for switching the conduction state of the high-pressure control air chamber is also arranged in the high-pressure control air chamber;
the high-pressure control air chamber is communicated with the low-pressure control air chamber through the emission control air chamber, and a high-pressure air release port for performing force unloading operation on the high-pressure control air chamber is arranged on the high-pressure control air chamber;
a matched piston group is arranged between the low-pressure control air chamber and the emission control air chamber, and a matched low-pressure air release port is arranged on one side of a first air injection port of the low-pressure control air chamber;
and a second gas injection port and a third gas injection port which are matched with the high-pressure control gas chamber and the high-pressure gas chamber are arranged on the high-pressure control gas chamber.
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| CN114275189B (en) | 2023-06-20 |
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