JP2013108718A - Launching device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress increase in weight and cost due to additional components such as a pallet, a fixation frame, while maintaining pointing accuracy toward a target.SOLUTION: A launching device 10 includes: a rail 12 which guides a frying body 11 in longitudinal rail direction and has rigidity; a hole 14 which is provided at one end of the frying body 11 of the rail 12 in an injection direction of the fraying body; a support part 17 which has a protruding member 15 inserted into the hole 14 and receives the one end of the rail 12, and supports the rail by the protruding member 15 and a supporting surface 16 and has rigidity; and an air part 18 which moves the support part 17 in a plurality of axial directions and orients a pointing direction of the supporting surface 16 toward in a target direction. A request pointing accuracy is obtained from a reference position toward a target orientation on the basis of the pointing accuracy from a reference position on the supporting surface 16 where orientation is adjusted by the arm part 18 toward the target orientation determined on the basis of the fitting between the hole 14 and the protruding member 15, and the pointing accuracy in a propulsive direction.

Description

  One embodiment relates to a launcher.

  The current mainstream is to use a lightweight container made of fiber reinforced plastic material, etc., to save the work of taking out the flying object from the container and mounting it on the launcher, and to shorten the work time. The launching device has a structure in which the container as it is stored is mounted on the launching device.

  Conventionally, there has been proposed a launching device that employs a method that combines a storage function of a flying object during storage and a function as a launcher of the flying object during launch (see, for example, Patent Documents 1 and 2). In the system that combines the storage function and the launcher function, the launcher and the launcher are fixed by a fixture or a fixing mechanism provided in the launcher and the launcher. For example, a fixed frame is provided on the launch tube, and a pallet is installed on the launch device side. The pallet is provided with a fixing tool and a fixing mechanism for fixing the fixing frame to the pallet. It is common to fix the launcher to the launcher using a structure in which this fixing mechanism and the launcher-side fixing frame are attached by fitting or the like.

JP 2002-122395 A JP 2005-127635 A

  However, in the above-described conventional technology, in order to increase the accuracy of directing to the target, the mass of the entire launching device is increased by the additional components that have been necessary in the past, resulting in high costs. Although the launching device only needs to have the function of launching the flying object, each component of the pallet, the fixed frame, and the fixing mechanism between the pallet and the fixed frame is added. Each mass of the pallet, the fixed frame, the fixing mechanism, and the like increases the mass of the entire launcher and increases the cost.

  In order to solve such a problem, according to one embodiment, a flying body that moves in the propulsion direction by jetting of blast is guided in the rail length direction, and substantially non-deformed with respect to the load by the flying body. A rail having a sufficient rigidity, a hole provided at one end of the rail in the jetting direction of the flying body, a projecting member inserted into the hole, and a support surface for receiving the one end of the rail The rail is supported by the projecting members and the support surface, the support portion having the rigidity, and the arm portion that moves the support portion in a plurality of axial directions and directs the orientation direction of the support surface in a target direction. And the accuracy of pointing in the target direction determined by the fitting between the hole and the projecting member from the reference position on the support surface, the direction of which is adjusted by the arm, and the direction accuracy of the propulsion direction by the rail. Launching apparatus is provided, characterized in that to achieve the required pointing accuracy for the target direction from the reference position by the.

It is a block diagram of the launcher which concerns on one Embodiment. (A) is a rear perspective view of a launcher including a flying object and a rail used in a launcher according to an embodiment, and (b) is an enlarged perspective view of the rear part of the launcher of FIG. 2 (a). It is. (A) is a figure which shows the longitudinal cross-section structure of the launch cylinder containing the flying body and rail used for the launching apparatus which concerns on one Embodiment, (b) is a longitudinal section along the AA 'line of Fig.3 (a). It is a figure which shows a surface structure. (A) is a perspective view which expands and shows the fitting part of the hole and projection member which are used for the launcher which concerns on one Embodiment, (b) implement | achieves the pointing accuracy to the target direction by a hole and a projection member It is sectional drawing which shows an example for doing. It is a figure for demonstrating each operation | movement of the launch preparation by the launching apparatus which concerns on one Embodiment, launching, and extraction.

  Hereinafter, a launching apparatus according to an embodiment will be described with reference to FIGS. 1 to 5. In the drawings, the same portions are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a configuration diagram of a launching apparatus according to an embodiment. The launching device 10 includes a rail 12 that guides the flying body 11 in the rail length direction, a launching cylinder 13 that houses the flying body 11 and the rail 12, and a rear side of the rail 12, that is, the ejection direction of the flying body 11. A guide hole 14 (hole) provided at one end portion, a guide pin 15 (projection member) inserted into the guide hole 14, and a support surface 16 for receiving one end portion of the rail 12 are provided. A support portion 17 that cantilever-supports the rail 12 by the surface 16, an arm portion 18 that moves the support portion 17 in two axial directions and directs the orientation direction of the support surface 16 in a target direction, and a controller 19 for control. ing. The launching device 10 has a directivity accuracy in a target direction determined by the fitting between the guide hole 14 and the guide pin 15 from the center point (reference position) on the support surface 16 whose directing direction is adjusted by the arm portion 18, rail The required directivity accuracy with respect to the target direction from the center point is achieved by the directivity accuracy in the propulsion direction of the flying body 11 by 12.

  FIG. 2A is a rear perspective view of the launch tube 13 including the flying body 11 and the rail 12 used in the launching apparatus 10 according to the embodiment. FIG. 2B is an enlarged perspective view of the back surface portion of the launch tube 13 of FIG. In these drawings, the above-described symbols represent the same elements. The launch tube 13 is composed of an FRP (fiber reinforced plastic) housing. The launch tube 13 may be fixed by two fixed frames. The launch tube 13 is open on the front and rear sides of the tube body. A front opening and a rear opening (not shown) of the launch tube 13 are each covered with a lid 20. The front lid 20 is strong enough to be pierced by the flying body 11. The rear lid 20 may be ruptured by blasting. An opening 21 is formed in the rear lid 20, and the guide hole 14 of the rail 12 is exposed through the opening 21.

  FIG. 3A is a view showing a vertical cross-sectional structure of the launch tube 13 including the flying body 11 and the rail 12 used in the launching device 10 according to the embodiment. FIG. 3B is a view showing a longitudinal sectional structure along the line AA ′ in FIG. In these drawings, the above-described symbols represent the same elements. The flying body 11 moves in the propulsion direction by blasting. The flying body 11 has a hanger 22 on the outer periphery of the trunk. The flying body 11 has a built-in propulsion device. The propulsion device can receive a control signal from the controller 19 via an electrical wiring. When the flying object 11 receives a launch command from the controller 19, the propulsion device is ignited to obtain a propulsive force. The rail 12 is made of steel or alloy, and is laid and fixed in the launch tube 13. The rail 12 has non-deformable rigidity against the load applied by the flying body 11. The non-deformable rigidity refers to a rigidity that does not cause the rail 12 to droop substantially forward when the elevation angle of the rail 12 is increased with the flying body 11 mounted. Further, the rail 12 has a rigidity that does not cause substantial deformation in the load direction even when the flying body 11 moves forward, due to the displacement of the mass of the flying body 11. The rail 12 has such a rigidity that there is no substantial torsional deformation due to the mass of the flying body 11 or its own weight. Further, a groove 23 having a groove length in the longitudinal direction is formed on, for example, the upper surface of the rail 12. The hanger 22 of the flying body 11 is slidably fitted in the groove 23, and the flying body 11 is guided along the longitudinal direction on the rail 12 while maintaining the posture. .

  FIG. 4A is an enlarged perspective view showing a fitting portion between the guide hole 14 and the guide pin 15. FIG. 4B is a cross-sectional view showing an example for realizing the pointing accuracy in the target direction by the guide hole 14 and the guide pin 15. In these drawings, the above-described symbols represent the same elements. The guide hole 14 and the guide pin 15 are made of a magnetizable material.

  For example, a ferromagnetic body and an excitation device (not shown) are provided in a region surrounding the guide hole 14 in the rail 12. The excitation device mainly has an electromagnet. The exciting device changes the direction of the magnetic field passing through the ferromagnetic body to the S-pole direction or the N-pole direction so as to magnetize the ferromagnetic body to the S-pole or N-pole. Further, for example, the guide pin 15 is equipped with a ferromagnetic material and an excitation device on the guide pin 15 itself or on the surface region of the guide pin 15 in the guide pin 15, and causes the excitation device to generate magnetic fields in two different directions, The guide pin 15 is magnetized to the S pole or the N pole. Excitation devices, such as S pole and N pole, N pole and S pole, S pole and S pole, or N pole and N pole, cause the guide hole 14 and the guide pin 15 to form a pair of magnetic poles. The controller 19 controls the excitation device so that the magnetic field directions of the two types of electromagnets are attracted or contradicted with each other. The inner peripheral surface and the bottom surface of the guide hole 14 and the outer peripheral surface and the end surface of the guide pin 15 are attracted to each other by the magnetic attractive force acting between the guide hole 14 and the guide pin 15. On the other hand, the inner peripheral surface and the bottom surface of the guide hole 14 and the outer peripheral surface and the end surface of the guide pin 15 are separated from each other by the magnetic repulsive force.

  Moreover, as shown in FIG.4 (b), the support surface 16 of the support part 17 has a flat surface. The support portion 17 has a notched spherical surface and a circular surface portion having a circumference continuous with the periphery of the notched spherical surface. The support portion 17 is made of, for example, synthetic resin or metal, and the inside of the support portion 17 is filled with synthetic resin or metal. The guide pin 15 extends in the surface normal direction from the center of the support surface 16 and forms a protrusion. One end surface of the rail 12 in the ejection direction also has a flat surface. The flat surface around the mounting position of the guide pin 15 on the support surface 16 is joined to the flat surface of the rail end surface. The surface accuracy of these flat surfaces is given, and the support portion 17, the rail 12 and the guide pins so that the accuracy of the guide pins 15 is such that the pin axis of the guide pins 15 is exactly perpendicular to the two flat surfaces. 15 is manufactured. When the accuracy is high, the accuracy is high enough that the error value falls within the allowable range. Improving the pointing accuracy in the target direction determined by the guide hole 14 and the guide pin 15 by using the center position of the flat surfaces that pull each other by the magnetic attraction force and the virtual line extending from the center position in the surface normal direction. Is possible. When the support portion 17, the rail 12 and the guide pin 15 are fixed at an accurate position between them by magnetic absorption, a slight backlash occurs on the launch tube 13 side, or the guide hole 14 and the guide pin 15 Even if play occurs in the meantime, the pointing accuracy of the flying body 11 in the propulsion direction is accurately maintained.

  As an example, the arm portion 18 (FIG. 1) is connected to a link arm 24 whose one end is rotatably attached to the support portion 17 and the other end of the link arm 24 so as to be vertically movable in the elevation direction. A base 25 that can be rotated in the angular direction, a horizontal axis drive unit 26 for moving the link arm 24 in the elevation angle direction, and a vertical axis drive unit 27 for rotating the base 25 in the azimuth direction are provided. Motors and gears are used for these drive units 26 and 27. The arm portion 18 is configured to individually control the support portion 17 in two axial directions perpendicular to each other.

  FIG. 5 is a diagram for explaining the respective operations of preparation for launch, launch and removal by the launch device 10. The above described symbols represent the same elements.

  The launch tube 13 of the launching device 10 having the above-described configuration is in a state in which the flying body 11 is accommodated.

  FIG. 5A shows an example of work contents for preparing for loading the launch tube 13. The link arm 24 pivots about its root and moves the support portion 17 from a high position to a low position. The link arm 24 lowers the support portion 17 until the position of the link arm 24 becomes horizontal.

  FIG. 5B shows an example of loading work of the launch tube 13. The launching device 10 inserts the guide pin 15 into the guide hole 14. FIG. 5C shows an example of loading work using an electromagnetic loading method. As an example, a circuit between the base 25 of the launching device 10 and the excitation device of the rail 12 is connected by a wiring cable or wirelessly, and the guide pin 15 and the guide hole 14 are fitted by the operation of the arm portion 18 or the like. Combine. The controller 19 excites the guide pin 15 and the guide hole 14 to the S pole and the N pole, respectively, through each excitation device. The guide pin 15 and the guide hole 14 are firmly fixed to each other. In addition to the electromagnetic type, a mechanical lock structure may be used between the guide pin 15 and the guide hole 14.

  FIG. 5D shows the posture of the launch tube 13 at the time of preparation for launch. The controller 19 commands the drive units 26 and 27 to set the azimuth and elevation angles in the target direction as the brain of the launching device 10. For example, the center of the surface is taken as a reference position on the support surface 16, and the orientation accuracy from the center of the surface to the target direction and the orientation accuracy of the propulsion direction of the flying body 11 by the rail 12 are determined from the center of the surface on the support surface 16. Achieve the required orientation accuracy for the target direction. Since the directivity angle is determined by the two articles of the support portion 17 and the rail 12, a hardware error can be suppressed to an extremely small level, and the directivity accuracy can be obtained with high accuracy.

  After loading is complete, the controller 19 moves the link arm 24 so that the launcher 10 is in a projectile position. The launching device 10 performs launching. The launching device 10 launches the flying object 11 in the posture of FIG. The launching device 10 may use mechanical fixing with a clip or the like instead of performing electromagnetic fixing. In this case, the launching apparatus 10 enters the projectile posture with the posture shown in FIG.

  FIG. 5E shows an example of work contents when the launch tube 13 is withdrawn. The controller 19 excites the guide pin 15 and the guide hole 14 so that they have the same magnetic pole. These guide pins 15 and guide holes 14 are separated from each other. Alternatively, the guide pin 15 and the guide hole 14 are separated from each other by releasing the mechanical lock structure.

  As described above, the launching device 10 can directly hold the support portion 17 supporting the flying body 11 inside the launching cylinder 13 with the link arm 24 on the firing device 10 side, and can shoot as it is. Only the support portion 17 that supports the flying body 11 requires strength, rigidity, and accuracy, and other components of the launching device 10 can be omitted or simplified. As a result, the launch tube 13 portion of the launching device 10 can be reduced in weight, and the cost can be reduced.

  The launching apparatus according to the conventional example includes a support portion and a rail, and further includes hardware that causes an error with respect to the command value in the target direction. The launching apparatus according to the conventional example as this hardware has a base part such as a pallet and a launcher. A pallet is a tray having a substantially rectangular shape and a thickness formed by combining a plurality of plates. It is necessary to suppress the dimensional accuracy of the pallet and launcher and the dimensional accuracy and assembly accuracy of the pallet, launcher and rail to a small error range with high accuracy. Further, additional components such as a pallet, a fixed frame, a pallet, and a fixing mechanism between the fixed frames are subjected to a launch reaction force that is a reaction of the propulsion force of the flying object. The additional components require strength to withstand this firing reaction force. Providing the launcher with a structure that realizes this strength increases the mass and cost of the launcher in the conventional example.

  On the other hand, the launching device 10 can minimize hardware errors without considering the dimensional error of the base portion and the assembly error between the base portion and the rail. This launching device 10 can be prevented from causing an error stacking caused when a plurality of parts are used. It is possible to eliminate waste such as calculating the strength to withstand the launch reaction force required when providing additional components.

  In addition, in the launching device 10, it is possible to simplify the mounting and wholesale work of the flying object 11, and the operational efficiency in operation can be increased. By making the error of hardware extremely small, high directivity accuracy with respect to the hardware can be achieved as a short-range system for launching the flying object 11 from the ground toward the sky. The system can operate quickly when the required mission occurs. Moreover, the launching device 10 can be configured simply as compared with the conventional example. By reducing the number of main parts, it is only necessary to adjust the play that can occur between the flying body 11 and the rail 12, and the work efficiency can be improved in that the number of adjustment target points is reduced. .

  In a system one generation before the 1980s, the flying object is stored in a warehouse in a state of being stored in a container, stored and stored. Before launching, the container is unloaded from the storage by a loading mechanism such as a crane. The flying object is transported to the vicinity of the launching device in a container with a transport vehicle. The flying object is taken out of the container by human power and the loading mechanism, and the flying object is mounted on the launching device. This work requires changing the flying object, which takes time. In addition, when the loading mechanism is used, the work load increases in a wide variety of ways, such as high cost, increased mass, and maintenance of the mechanism unit. Furthermore, after launching on a launcher, if launching is not performed, it is necessary to unload the flying object and store it again in the container. In the handling system of the previous generation, the work of taking out and loading is troublesome.

  Therefore, conventionally, in order to save time and effort, launch tubes that can be stored and fired in a state in which a flying object is housed are becoming mainstream. Nevertheless, a launch tube and a mechanism for fixing the launch tube are required. In general, a structure in which a fixed frame is installed on the launcher, a pallet is installed on the launcher side, and a fixed frame of the launcher is attached to a fixing mechanism portion of the pallet.

  However, the conventional method requires a loading mechanism such as a crane even though the launching device need only have the function of launching the flying object. In the loading method according to the conventional example, it is necessary for the launching device to have components such as a pallet, a fixed frame, and a fixing mechanism between the pallet and the fixed frame. Each mass of the pallet, the fixed frame, the fixing mechanism, and the like increases the mass and cost of the entire launching device.

  Generally, in a system that launches a flying object from the ground toward the sky, a target that approaches a short distance has a short time until the target approaches the launching device. The launching device needs to follow the directivity angle to the target within a very short time and direct the flying object to the target with high accuracy. Therefore, all the hardware is assembled with the rail that fixes the flying object, the launcher to which the rail is attached on the inner surface side, the fixed frame on the outer surface side of the launcher, the pallet to which the fixed frame is attached, etc. High directivity angle accuracy is required. The launching device is strictly required to have an extremely small error in pointing accuracy. The launching device is required to have high precision manufacturing to satisfy not only the strength but also the directivity angle accuracy. Since the launching device is required to have accuracy including bending in a state where the launcher containing the flying object is mounted, high rigidity is required for the structure constituting the launching device.

  When a loading mechanism such as a crane as in the previous generation is added to the launching device, the launching device becomes complicated. In addition, when a launcher with a flying object is used as in the prior art, the strength and rigidity of the added components intervening from the flying object to the launching device are determined and high dimensional accuracy is obtained. Assembling accuracy is required, and the increase in the number of components has a greater impact on the cost than the increase in mass. The original function of the launching device is just to mount the flying body on the base, but in the conventional example, it is necessary to provide the launcher with an electrical interface function and attach it with high accuracy. If it does so, cost will inevitably increase and the whole mass of a launcher will increase.

  When the flying object is mounted as it is, or the launcher is modeled as if it was mounted as in the conventional example, and the flying object jumps out, a structural calculation that the launching device receives the power of the launch reaction force is required. Then, a reaction force of a useless magnitude is applied to the launching device side than a reaction force when the flying body flies away in a state where nothing is covered. A pallet or pallet component is required to securely fix the launcher to the launcher. For this reason, the components on the launching device side below the pallet need strength and structure to withstand it. The launching apparatus according to the present embodiment solves such a situation collectively.

  In the above embodiment, the center of the surface is taken as the reference position, but the reference position can take any position or region on the support surface 16. The opening shape and depth of the guide hole 14 can be variously changed. Although the protruding member is the guide pin 15, the pin shape and the pin length of the guide pin 15 can be variously changed. A guide pin 15 having a round cross section or a rectangle may be used. For example, a plate shape or a rod shape different from the pin may be used as the protruding member. You may provide a groove-shaped unevenness | corrugation in a hole and a protrusion member, respectively. The superiority of the launching apparatus according to the present embodiment is not impaired at all with respect to the embodiment that has been implemented with these modifications.

  In order to improve the pointing accuracy in the target direction, it is possible to increase the positioning accuracy more simply by using only one protruding member. If the number of the protruding members is increased or a complicated structure is taken, it may be difficult to increase accuracy. If the number of projecting members is increased and complicated, in order to achieve the same accuracy as that achieved when the number of projecting members is one, the dimensional accuracy of individual parts and the assembly accuracy after assembly are increased. Required.

  Although the shape of the support surface 16 of the support portion 17 is a hemispherical shape or a saddle shape having a flat surface, the support surface 16 may be a concave curved surface like an antenna surface of a parabolic antenna. The support portion 17 receives the rail 12 by the concave curved surface. In this case, a protruding member such as a guide pin 15 is provided at the center of the concave curved surface.

  Although several embodiments have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 10 ... Launching device, 11 ... Flying object, 12 ... Rail, 13 ... Launch tube, 14 ... Guide hole (hole), 15 ... Guide pin (projection member), 16 ... Support surface, 17 ... Support part, 18 ... Arm Part, 19 ... controller, 20 ... lid, 21 ... opening, 22 ... hanger, 23 ... groove, 24 ... link arm, 25 ... base, 26, 27 ... drive part.

Claims (3)

A rail that guides the flying body moving in the propulsion direction by the blast jet in the rail length direction, and has a substantially non-deformable rigidity with respect to the load by the flying body;
A hole provided at one end of the flying direction of the flying body of the rail;
A projecting member inserted into the hole, and a support surface that receives the one end side of the rail; the projecting member and the support surface support the rail; and a rigid support unit;
An arm part that moves the support part in a plurality of axial directions and directs the directing direction of the support surface in a target direction; and
The reference position is determined by the pointing accuracy in the target direction determined by the fitting between the hole and the projecting member from the reference position on the support surface whose direction is adjusted by the arm, and the pointing accuracy in the propulsion direction by the rail. To achieve a required directivity accuracy with respect to the target direction.   Both the projecting member and the hole are magnetized, and the support part and the rail are attracted by a magnetic attraction force that interacts between the projecting member and the hole, and the support part and the hole are attracted by a magnetic repulsive force. The launcher according to claim 1, wherein the rail is separated.   The support surface of the support portion has a flat surface, the protrusion member has a protrusion portion in the normal direction of the flat surface, and one end surface of the rail in the ejection direction has another flat surface. The launching device according to claim 1, wherein the directing accuracy in the target direction determined by the hole and the protruding member is improved by joining the flat surfaces.

Images