CN208333255U - A kind of artillery angle two close cycles servo regulating device of Worm Wheel System - Google Patents
A kind of artillery angle two close cycles servo regulating device of Worm Wheel System Download PDFInfo
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- CN208333255U CN208333255U CN201820689153.5U CN201820689153U CN208333255U CN 208333255 U CN208333255 U CN 208333255U CN 201820689153 U CN201820689153 U CN 201820689153U CN 208333255 U CN208333255 U CN 208333255U
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- gun barrel
- regulating device
- angle
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Abstract
The utility model discloses a kind of artillery angle two close cycles servo regulating device of Worm Wheel System, artillery angle two close cycles servo regulating device includes two groups of Worm and worm-wheel gearings and a pair of of rotor plate, two fixing axles being arranged coaxially are respectively fixed on the both side plate of gun carriage, gun barrel is mounted on both side plate between both side plate and through two fixing axles, one end of rotor plate and the fixing axle of respective side are rotatably coupled, the other end of rotor plate is fixedly connected with gun barrel, Worm and worm-wheel gearing includes worm gear, worm screw and servo motor, worm gear is coaxial with the fixing axle of respective side and is fixedly connected, worm screw is mounted on the rotor plate of respective side, the connection of one end of servo motor and worm screw, worm screw rotation is driven by servo motor, make to revolve while worm screw rotation around worm gear, with drive rotor plate and gun barrel together around Fixing axle rotates to adjust the angle of gun barrel.The utility model has the advantages that laborsaving, self-locking performance is good, precision is high.
Description
Technical field
The utility model relates to fire control technical fields, double more particularly, to a kind of artillery angle of Worm Wheel System
Closed loop servo regulating device.
Background technique
Traditional cannon regulating device operates that relatively elaborate, precision is not high, it is self-locking easily to occur when adjusting artillery angle now
Thus the bad problem of performance causes to emit the problem of hit rate reduces caused by adjusting deviation because of artillery angle.
Utility model content
The main purpose of the utility model is to provide a kind of adjustings of the artillery angle two close cycles servo of Worm Wheel System
Device, it is intended to solve the problems, such as in existing artillery angle regulating device it is not laborsaving, precision is not high, self-locking property is bad.
To achieve the above object, the artillery angle two close cycles servo that the utility model provides a kind of Worm Wheel System is adjusted
Device, for carrying out angular adjustment to gun barrel, the artillery angle two close cycles servo regulating device includes two groups of worm gear snails
Bar transmission mechanism and a pair of of rotor plate, this is symmetric in the outside of the both side plate of gun carriage rotor plate, and the two of the gun carriage
Two fixing axles being arranged coaxially are respectively fixed on side plate, the gun barrel is located between the both side plate of gun carriage and passes through institute
Two fixing axles to be stated to be mounted on the both side plate of gun carriage, one end of each rotor plate and the fixing axle of respective side are rotatably coupled,
The other end of each rotor plate is fixedly connected with gun barrel, and each group of Worm and worm-wheel gearing includes worm gear, worm screw and watch
Motor is taken, the worm gear is coaxial with the fixing axle of respective side and is fixedly connected, and the worm screw is mounted on the rotor plate of respective side,
The servo motor is connect with one end of the worm screw, drives worm screw rotation by servo motor, while making worm screw rotation around
Worm gear revolution, adjusts the angle of gun barrel to drive rotor plate and gun barrel to rotate together around fixing axle.
Preferably, one end of the rotor plate is rotatably coupled by rotor plate bearing and fixing axle, the rotor plate
The other end mutually fixed with gun barrel by fixing screws, the inner ring of the rotor plate bearing is mutually fixed with fixing axle, described
The outer ring of rotor plate bearing is mutually fixed with rotor plate.
Preferably, the both ends of the worm screw are supported and are compressed by worm bearing lid, the snail at worm screw both ends by screw-bearing
Rod bearing lid is connected and is fixed with rotor plate.
Preferably, the outer end face of the worm gear is connected with worm gear tabletting, and the worm gear tabletting and fixing axle are coaxial and consolidated
It is scheduled in fixing axle.
It preferably, further include photoelectric encoder, the grating disc and rotor plate coaxial bearing of the photoelectric encoder simultaneously and turn
The outer ring of movable plate bearing is mutually fixed, and the photoelectric detection system of the photoelectric encoder is mutually fixed with fixing axle, is used for gun barrel
When under rotor plate driving around fixing axle rotation, the corner of gun barrel is measured
It preferably, further include the fast interface and portable controller being fixed on gun carriage, the letter of the photoelectric encoder
It number is connected by the fast interface with the portable controller with power line, to pass through portable controller setting and automatic
Control the corner of gun barrel.
Preferably, the servo motor carries detecting element, and the signal and power line of the servo motor pass through described fast
Quick access mouth is connected with the portable controller, the current direction of rotation of the servo motor in real time measuring detecting element and
Speed feedback is to portable controller.
Preferably, the other end of the worm screw is connected with handwheel, carrys out rotary worm for manual mode.
Preferably, the process for automatically controlling cannon corner is: expected angle value is inputted by the keyboard of portable controller,
Portable controller issues control instruction electric current i, and by carrying the rotation direction of detecting element feedback with servo motor, corner is believed
After number current vs, error-driven current signal Δ i is formed, Δ i is by the servo amplifier amplification inside portable controller
Afterwards, driving current Δ I is formed to servo motor, and servo motor exports specific rotation direction and revolving speed, and driving worm and gear passes
Dynamic mechanism kinematic, to drive gun barrel rotation by rotor plate；After photoelectric encoder measures the real-time corner of gun barrel, instead
It feeds portable controller, portable controller quickly controls so that gun barrel corner reaches target value.
In the artillery angle two close cycles servo regulating device of the utility model, fixed due to using worm gear, worm screw rotation
With the special kind of drive to revolve around worm gear, worm screw is both driving link and driven member, and self-locking property is very good, so that right
The adjusting of gun barrel angle is very laborsaving, and gun barrel can be stablized self-locking again；And it is suitble to use servo motor revolving speed, cannon
The two close cycles of barrel angle automatically control so that it is fast to the servo governing response of gun barrel angle, accuracy is very high.
Detailed description of the invention
Fig. 1 is a kind of one embodiment of artillery angle two close cycles servo regulating device of Worm Wheel System of the utility model
General assembly structure axis side view.
Fig. 2 is the structure axis side view of artillery angle two close cycles servo regulating device shown in Fig. 1.
Fig. 3 is the structure sectional view of artillery angle two close cycles servo regulating device shown in Fig. 1.
Fig. 4 is the automatic control system of the artillery angle two close cycles servo regulating device of the utility model Worm Wheel System
Block diagram.
Component label instructions in figure:
1, servo motor；2, worm screw；3, worm bearing；4, worm bearing lid；5, gun barrel；6, fixing screws；7, turn
Movable plate；8, handwheel；9, worm gear；10, photoelectric encoder；11, fast interface；12, portable controller；13, gun carriage；131, side
Plate；14, fixing axle；15, worm gear tabletting；16, rotor plate bearing.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
Specific embodiment
It should be appreciated that the specific embodiments described herein are only used to explain the utility model, it is not used to limit
The utility model.
Dress is adjusted as shown in Figure 1 to Figure 3 for a kind of artillery angle two close cycles servo of Worm Wheel System of the utility model
The embodiment set, artillery angle two close cycles servo regulating device are used to carry out angular adjustment, including two groups of snails to gun barrel 5
Worm and gear transmission mechanism and a pair of of rotor plate 7, this is symmetric in the outside of the both side plate 131 of gun carriage 13, institute rotor plate 7
Two fixing axles 14 for being respectively fixed with and being arranged coaxially on the both side plate 131 of gun carriage 7 are stated, the gun barrel 5 is located at gun carriage 13
Both side plate 131 between and be mounted on the both side plate 131 of gun carriage 13 by two fixing axle 14, the one of each rotor plate 7
It holds and is rotatably coupled with the fixing axle 14 of respective side, the other end of each rotor plate 7 is fixedly connected with gun barrel 5, each
Group Worm and worm-wheel gearing includes worm gear 9, worm screw 2 and servo motor 1, and the worm gear 9 and the fixing axle 14 of respective side are coaxial
And be fixedly connected, the worm screw 2 is mounted on the rotor plate 7 of respective side, and the servo motor 1 and one end of the worm screw 2 connect
It connects, drives worm screw 2 to rotate by servo motor 1, make to revolve while 2 rotation of worm screw around worm gear 9, to drive rotor plate 7 and fire
Barrel pipe 5 rotates to adjust the angle of gun barrel 5 together around fixing axle 14.Using such Worm and worm-wheel gearing, have
Extraordinary self-locking property, after the angle of gun barrel 5 has been conditioned, gun barrel 5 will be stablized self-locking, angle and will not be become
Change.
In the present embodiment, one end of the rotor plate 7 is rotatably coupled by rotor plate bearing 16 and fixing axle 14,
The other end of the rotor plate 7 is fixed by fixing screws 6 and 5 phase of gun barrel., the inner ring of the rotor plate bearing 16 and solid
14 phase of dead axle is fixed, and outer ring and 7 phase of rotor plate of the rotor plate bearing 16 are fixed, in this way, the rotor plate bearing 16 is outer
Circle is in 7 rotation process of rotor plate as rotor plate 7 rotates together.
The both ends of the worm screw 2 are supported and are compressed by worm bearing lid 4, the worm shaft at 2 both ends of worm screw by screw-bearing 3
Lid 4 is held to connect and fix with rotor plate 7.The outer end face of the worm gear 9 is connected with worm gear tabletting 15,15 He of worm gear tabletting
Fixing axle 14 is coaxial and is fixed in fixing axle 14.
In the present embodiment, artillery angle two close cycles servo regulating device further includes photoelectric encoder 10, and the photoelectricity is compiled
The grating disc of code device 10 is coaxial with rotor plate bearing 16 and mutually fixes with the outer ring of rotor plate bearing 16, the photoelectric encoder 10
Photoelectric detection system fixed with 14 phase of fixing axle, for gun barrel 5 rotor plate 7 driving under around fixing axle 14 rotate when,
Measure the corner of gun barrel 5.When gun barrel 5 rotates, the outer ring of the rotor plate bearing 16 and photoelectric encoder 10
Grating disc can be rotated together with rotor plate 7, measure rotor plate bearing 16 by the photoelectric detection system of photoelectric encoder 10
The corner of outer ring, to measure the real-time angular of gun barrel 5.
Further, artillery angle two close cycles servo regulating device further includes 11 He of fast interface being fixed on gun carriage 13
Portable controller 12, the signal and power line of the photoelectric encoder 10 pass through the fast interface 11 and the portable control
Device 12 processed connects, to set and automatically control the corner of gun barrel 5 by portable controller 12.
The servo motor 1 carries detecting element, and the signal and power line of the servo motor 1 pass through the fast interface
11 and the portable controller 12 connect, the current direction of rotation of the servo motor 1 in real time measuring detecting element and
Speed feedback is to portable controller 12.
The other end of the worm screw 2 is connected with handwheel 8, carrys out rotary worm 2 for manual mode.The two of two worm screws 2 connection
Handwheel 8 is symmetrically distributed in 5 two sides of gun barrel, worm gear can be driven by using manual mode rotary worm 2, thus manually
Adjust the angle of gun barrel 5.
In artillery angle two close cycles servo regulating device, cannon body is symmetrically distributed in using two groups of Worm and worm-wheel gearings
The two sides of pipe 5, common driving and the angle for adjusting gun barrel 5.
Referring to Fig. 4, the process that artillery angle two close cycles servo regulating device automatically controls cannon corner is:
Expected angle value is inputted by the keyboard of portable controller 12, portable controller 12 issues control instruction electric current
I forms error-driven electricity by carrying the rotation direction of detecting element feedback with servo motor 1, after angular signal current vs
Signal delta i is flowed, Δ i forms driving current Δ I and give servo electricity after the servo amplifier amplification inside portable controller 12
Machine 1, servo motor 1 export specific rotation direction and revolving speed, driving Worm and worm-wheel gearing movement, to pass through rotor plate
7 drive gun barrel 5 to rotate；
After photoelectric encoder 10 measures the real-time corner of gun barrel 5, portable controller 12, portable controller are fed back to
12 quickly control so that 5 corner of gun barrel reaches target value.
In above-mentioned control process, using double-closed-loop control, wherein
First closed loop is: servo motor 1 carries detecting element, and in real time by current direction of rotation, speed feedback to just
Formula controller 12 is taken, portable controller 12 quickly controls so that servo motor 1 reaches real-time target rotation direction, revolving speed；
Second closed loop is: after photoelectric encoder 10 measures the real-time corner of gun barrel 5, feeding back to portable controller
12, portable controller 12 quickly controls so that 5 corner of gun barrel reaches target value.
Due to using the two close cycles automatic control technology of 1 revolving speed of servo motor, 5 angle of gun barrel, so as to cannon
The servo governing response of 5 angle of barrel is fast, accuracy is very high.
In artillery angle two close cycles servo regulating device, due to using fixed worm gear 9, the rotation of worm screw 2 and around 9 public affairs of worm gear
The special kind of drive turned, worm screw 2 is both driving link and driven member, and self-locking property is very good, so as to gun barrel 5
The adjusting of angle is very laborsaving, and gun barrel 5 can be stablized self-locking again, this is very useful in practical projects, especially with people
When work manually adjusts.
The artillery angle two close cycles servo regulating device of the present embodiment, manually can adjust but also automatically control, tool
Have the characteristics that laborsaving, automatic, accurate, self-locking property is good, solves not laborsaving, self-locking property in traditional artillery angle regulating device
Bad technical problem can be widely used in the angular adjustment of the cannons such as modern ground, vehicle-mounted, carrier-borne.
The utility model is not limited to embodiment of above, under technology contents disclosed in above embodiment, may be used also
To carry out various change.Equivalent structure transformation made by using the description of the utility model and the drawings, or directly or
Other related technical areas are used in indirectly, are also included in the patent protection scope of the utility model.
Claims (8)
1. the artillery angle two close cycles servo regulating device of a kind of Worm Wheel System, for carrying out angle tune to gun barrel
Section, which is characterized in that the artillery angle two close cycles servo regulating device includes two groups of Worm and worm-wheel gearings and a pair of turn
Movable plate, this, which is symmetric rotor plate to be respectively fixed on the outside of the both side plate of gun carriage, the both side plate of the gun carriage, is in
Two fixing axles of coaxial arrangement, the gun barrel are located between the both side plate of gun carriage and are mounted on big gun by two fixing axle
On the both side plate of frame, one end of each rotor plate and the fixing axle of respective side are rotatably coupled, the other end of each rotor plate
Be fixedly connected with gun barrel, each group of Worm and worm-wheel gearing includes worm gear, worm screw and servo motor, the worm gear with it is right
Answer the fixing axle of side coaxial and be fixedly connected, the worm screw is mounted on the rotor plate of respective side, the servo motor with it is described
One end of worm screw connects, and drives worm screw rotation by servo motor, makes to revolve while worm screw rotation around worm gear, to drive rotation
Plate and gun barrel rotate together around fixing axle to adjust the angle of gun barrel.
2. artillery angle two close cycles servo regulating device as described in claim 1, which is characterized in that one end of the rotor plate
It is rotatably coupled by rotor plate bearing and fixing axle, the other end of the rotor plate passes through fixing screws and gun barrel phase
Fixed, the inner ring of the rotor plate bearing is mutually fixed with fixing axle, and the outer ring of the rotor plate bearing is mutually fixed with rotor plate.
3. artillery angle two close cycles servo regulating device as described in claim 1, which is characterized in that the both ends of the worm screw are equal
It is supported by screw-bearing and is compressed by worm bearing lid, the worm bearing lid at worm screw both ends is connected and fixed with rotor plate.
4. artillery angle two close cycles servo regulating device as described in claim 1, which is characterized in that the outer end face of the worm gear
It is connected with worm gear tabletting, the worm gear tabletting and fixing axle are coaxial and be fixed in fixing axle.
5. artillery angle two close cycles servo regulating device as claimed in claim 2, which is characterized in that further include photoelectric coding
The grating disc of device, the photoelectric encoder is mutually fixed with rotor plate coaxial bearing and with the outer ring of rotor plate bearing, the photoelectricity
The photoelectric detection system of encoder is mutually fixed with fixing axle, when being rotated under rotor plate driving around fixing axle for gun barrel,
Measure the corner of gun barrel.
6. artillery angle two close cycles servo regulating device as claimed in claim 5, which is characterized in that further include being fixed on gun carriage
On fast interface and portable controller, the signal and power line of the photoelectric encoder pass through the fast interface and described
Portable controller connection, the corner of gun barrel is set and automatically controlled by portable controller.
7. artillery angle two close cycles servo regulating device as claimed in claim 6, which is characterized in that the servo motor is included
The signal of detecting element, the servo motor is connected by the fast interface with the portable controller with power line, is used
In the current direction of rotation for the servo motor in real time measuring detecting element and speed feedback to portable controller.
8. artillery angle two close cycles servo regulating device as described in claim 1, which is characterized in that the other end of the worm screw
It is connected with handwheel, carrys out rotary worm for manual mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820689153.5U CN208333255U (en) | 2018-05-09 | 2018-05-09 | A kind of artillery angle two close cycles servo regulating device of Worm Wheel System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820689153.5U CN208333255U (en) | 2018-05-09 | 2018-05-09 | A kind of artillery angle two close cycles servo regulating device of Worm Wheel System |
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| CN208333255U true CN208333255U (en) | 2019-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820689153.5U Active CN208333255U (en) | 2018-05-09 | 2018-05-09 | A kind of artillery angle two close cycles servo regulating device of Worm Wheel System |
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| CN (1) | CN208333255U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108692615A (en) * | 2018-05-09 | 2018-10-23 | 东莞理工学院 | A kind of the artillery angle two close cycles servo regulating device and method of Worm Wheel System |
-
2018
- 2018-05-09 CN CN201820689153.5U patent/CN208333255U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108692615A (en) * | 2018-05-09 | 2018-10-23 | 东莞理工学院 | A kind of the artillery angle two close cycles servo regulating device and method of Worm Wheel System |
| CN108692615B (en) * | 2018-05-09 | 2023-09-26 | 东莞理工学院 | Cannon angle double closed loop servo adjusting device and method driven by worm and gear |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zhongyuan Intelligent (Guangdong) Automation Technology Co.,Ltd. Assignor: DONGGUAN University OF TECHNOLOGY Contract record no.: X2023980030288 Denomination of utility model: A double closed loop servo control device for gun angle driven by worm gear and worm Granted publication date: 20190104 License type: Common License Record date: 20230110 |
|
| EE01 | Entry into force of recordation of patent licensing contract |