CN218673342U

CN218673342U - Mortar yaw adjustment angle measuring device and mortar

Info

Publication number: CN218673342U
Application number: CN202222654548.0U
Authority: CN
Inventors: 熊亮; 李冠南; 王北镇
Original assignee: Hunan Navigate Technology Co ltd
Current assignee: Hunan Navigate Technology Co ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2023-03-21
Anticipated expiration: 2032-09-30

Abstract

The utility model discloses a mortar yaw adjusting angle measuring device, which comprises a sensor module, a processing module and a power module; the sensor module is used for acquiring the accelerations in two orthogonal directions and is in signal connection with the input end of the processing module; the processing module is used for receiving the acquired acceleration signals and judging the rotation angle and the rotation direction of the mortar yaw adjusting screw rod; the power module is electrically connected with the sensor module and the processing module respectively. The utility model discloses a sensor module responds to the acceleration of two orthogonal directions, records mortar adjustment screw's rotation angle and direction of rotation, reachs the displacement of barrel according to the drive ratio of lead screw and lead screw slider again, can calculate the yaw angle of adjustment of barrel at last, has avoided the drift problem of gyroscope measurement to because lead screw drive ratio is great, consequently measurement accuracy is also than higher.

Description

Mortar yaw adjustment angle measuring device and mortar

Technical Field

The utility model relates to an angle measurement equipment technical field especially relates to a mortar driftage adjustment angle measuring device and mortar.

Background

As shown in fig. 1 and 2, a mortar known to the applicant comprises a barrel 1, a base 2, a butt 3, a handle 4, a lead screw slider 5 and a lead screw 6. After the mortar is fixed, the fighter needs to adjust the pitch angle and yaw angle of the gun barrel. The yaw angle is adjusted by driving the screw rod slide block 5 to move left and right through the rotating handle 4, and the screw rod slide block 5 further drives the gun barrel 1 to move left and right. At present, for the measurement of the yaw angle, the angle is measured by either naked eye observation or a gyroscope, the observation subjectivity of naked eyes is strong, the difference between individuals is large, and the error is large. The measurement by the gyroscope is limited by the drift and precision of the gyroscope itself, and is also very inaccurate for slow speed adjustment.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome prior art not enough, provide a simple structure, can avoid the drift problem, be favorable to guaranteeing the mortar driftage adjustment angle measuring device of precision.

The utility model discloses further provide a mortar that contains above-mentioned mortar driftage angle of adjustment measuring device.

In order to solve the technical problem, the utility model discloses a following technical scheme:

a mortar yaw adjustment angle measuring device comprises a sensor module, a processing module and a power supply module;

the sensor module is used for acquiring the accelerations in two orthogonal directions and is in signal connection with the input end of the processing module;

the processing module is used for receiving the acquired acceleration signals and judging the rotation angle and the rotation direction of the mortar yaw adjusting screw rod;

the power module is electrically connected with the sensor module and the processing module respectively.

As a further improvement of the above technical solution: the sensor module includes a dual-axis accelerometer.

As a further improvement of the above technical solution: the mortar yaw adjustment angle measuring device further comprises a Bluetooth module, the output end of the processing module is in signal connection with the Bluetooth module, and the power supply module is electrically connected with the Bluetooth module and supplies power to the Bluetooth module through the power supply module. The Bluetooth module can send the processing module data to other Bluetooth equipment without line connection, and the operation is more convenient and simple.

As a further improvement of the above technical solution: the power module is a storage battery. The power module adopts the battery, and the switch can be used without any line connection, and the operation is more convenient and simple.

As a further improvement of the above technical solution: the processing module is a single chip microcomputer.

The utility model provides a mortar, includes barrel, base, arm brace, lead screw slider and lead screw, the barrel lower extreme with base swing joint, barrel upper end with the lead screw slider is connected, the lead screw slider is located on the lead screw, the lead screw is located on the arm brace, mortar still includes foretell mortar driftage adjustment angle measuring device.

As a further improvement of the technical scheme:

the handle is arranged on the screw rod, so that the screw rod can be conveniently and manually driven to rotate.

Compared with the prior art, the utility model has the advantages of: the utility model discloses a mortar yaw adjustment angle measuring device, acceleration through two orthogonal directions of sensor module response records mortar adjustment lead screw's rotation angle and direction of rotation, reachs the displacement of barrel according to the drive ratio of lead screw and lead screw slider again, can calculate the yaw adjustment angle of barrel at last, has avoided the drift problem of gyroscope measurement to because lead screw drive ratio is great, consequently measurement accuracy is also than higher.

The utility model discloses a mortar, adjust angle measuring device including foretell mortar driftage, therefore have above-mentioned advantage equally.

Drawings

Fig. 1 is a schematic perspective view of the mortar at a first viewing angle.

Fig. 2 is a schematic perspective view of the mortar at a second viewing angle.

Figure 3 is the mortar yaw angle adjusting measuring device of the utility model.

Fig. 4 is a schematic view of the measuring device for yaw adjustment angle of mortar of the present invention.

The reference numerals in the figures denote: 1. a gun barrel; 2. a base; 3. a brace; 4. a handle; 5. a screw rod slide block; 6. a screw rod; 7. a sensor module; 8. a processing module; 9. a power supply module; 10. and a Bluetooth module.

Detailed Description

As used in this disclosure and in the claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are inclusive in the plural unless the context clearly dictates otherwise. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Likewise, the word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

The invention is described in further detail below with reference to the drawings and specific embodiments.

Fig. 3 to 4 show an embodiment of the present invention. It should be noted that the present invention does not rely on the improvement of the computer software program, and can solve the corresponding technical problem by means of the function of each hardware module itself, so as to obtain the expected technical effect.

A sensor with a double-axis accelerometer is fixed at the lead screw 6, the rotating angle b of the lead screw 6 can be obtained according to the measured acceleration, the moving distance d = kb of the lead screw slide block 5 can be obtained according to the transmission ratio k of the lead screw 6 and the lead screw slide block 5, namely the distance of the gun barrel 1 moving left and right, and finally the angle c (namely the yaw angle) of the gun barrel 1 moving left and right is obtained. Specifically, as shown in the following schematic diagram 4 (a), wherein 6 is a screw rod, 1 is a barrel, 2 is a base, and the length of the barrel 1 is L when the barrel is perpendicular to the screw rod 6. The yaw angle c = arctan (d/L) is available from the figure.

As shown in fig. 4 (b), g is the gravitational acceleration, and g1 is the gravitational acceleration component measured by the accelerometer. And b is an included angle between the direction of the sensitive axis of the accelerometer and the gravity acceleration, g1= g × cosb, b = arccos (g 1/g) is obtained by converting a formula, namely, the included angle b is calculated in real time according to g1 measured by the accelerometer in real time.

The directions of the sensitive axes of the two axes of the acceleration sensor are as shown in fig. 4 (c), and a1 and a2 are orthogonal to each other. When the sensitive axis a1 of the accelerometer is in the same direction as the gravity acceleration and rotates at a constant speed along with the screw rod 6, the acceleration measured in the direction of the two sensitive axes is shown in the following figure 4 (d), and the direction of the gravity acceleration is taken as the positive direction, namely t ₀ Time angle omega ₀ =0, the a1 axis sweeps the four sectors 1-2-3-4 in fig. 4 (d) in sequence when rotating clockwise, the acceleration measured by the two axes is shown in the upper graph in fig. 4 (e), the a1 axis sweeps the four sectors 4-3-2-1 in fig. 4 (d) in sequence when rotating counterclockwise, and the acceleration measured by the two axes is shown in the lower graph in fig. 4 e.

Combining 4 (d) and FIG. 4 (e) gives the following Table 1:

from table 1, it can be known that, no matter which sector the sensor is located in, the acceleration symbol measured by the sensor can be known, and the rotation direction can be known according to the variation trend of the acceleration. Therefore, the rotation angle b = arccos (g 1/g) of the screw 6 can be measured in real time, and the angle ω = ω of the screw is measured ₀ + -arccos (g 1/g). Wherein, ω is ₀ The initial angle of the screw rod 6 is g, the gravity acceleration is g, and g1 is the acceleration measured by one axis of the accelerometer.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The technical solution of the present invention can be used by anyone skilled in the art to make many possible variations and modifications, or to modify equivalent embodiments, without departing from the scope of the technical solution of the present invention, using the technical content disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments by the technical entity of the present invention should fall within the protection scope of the technical solution of the present invention.

Claims

1. The utility model provides a mortar yaw alignment angle measuring device which characterized in that: comprises a sensor module (7), a processing module (8) and a power supply module (9);

the sensor module (7) is used for acquiring accelerations in two orthogonal directions and is in signal connection with the input end of the processing module (8);

the processing module (8) is used for receiving the acquired acceleration signals and judging the rotation angle and the rotation direction of the mortar yaw adjusting screw rod (6);

the power supply module (9) is electrically connected with the sensor module (7) and the processing module (8) respectively.

2. The mortar yaw adjustment angle measurement device according to claim 1, wherein: the sensor module (7) comprises a dual axis accelerometer.

3. The mortar yaw adjustment angle measuring device according to claim 1 or 2, characterized in that: the Bluetooth module is characterized by further comprising a Bluetooth module (10), the output end of the processing module (8) is in signal connection with the Bluetooth module (10), and the power module (9) is electrically connected with the Bluetooth module (10).

4. The mortar yaw adjustment angle measuring device according to claim 1 or 2, wherein: the power module (9) is a storage battery.

5. The mortar yaw adjustment angle measuring device according to claim 1 or 2, wherein: the processing module (8) is a singlechip.

6. The utility model provides a mortar, includes gun barrel (1), base (2), spike (3), lead screw slider (5) and lead screw (6), gun barrel (1) lower extreme with base (2) swing joint, gun barrel (1) upper end with lead screw slider (5) are connected, lead screw slider (5) are located on lead screw (6), lead screw (6) are located on spike (3), its characterized in that: the mortar further comprises a mortar yaw adjustment angle measuring device according to any one of claims 1 to 5.

7. The mortar of claim 6, wherein: and a handle (4) is arranged on the screw rod (6).