Unfolding and folding device, bulletproof panel device, control method and unmanned vehicle
阅读说明：本技术 一种展收装置、防弹面板装置及控制方法及无人车 (Unfolding and folding device, bulletproof panel device, control method and unmanned vehicle ) 是由 龙知洲 李伟萍 马天 黄献聪 康越 王修行 吉小超 于 2020-06-05 设计创作，主要内容包括：本发明涉及一种展收装置、防弹面板装置及控制方法及无人车。所述展收装置包括伸缩支撑杆机构和滑动机构,其中,所述滑动机构包括底部的固定部分和上方的活动部分,所述活动部分相对所述固定部分前后移动,所述活动部分的上端与待展收件的下端相连；所述伸缩支撑杆机构设于所述滑动机构旁,所述伸缩支撑杆包括可伸缩的杆件,所述杆件连接所述待展收件的上端。本发明使得防弹面板能灵活放置、可快速收展,便于在无人车上实现自动化控制,增强了灵活性与防护能力。(The invention relates to a folding and unfolding device, a bulletproof panel device, a control method and an unmanned vehicle. The unfolding and folding device comprises a telescopic supporting rod mechanism and a sliding mechanism, wherein the sliding mechanism comprises a fixed part at the bottom and a movable part above the fixed part, the movable part moves back and forth relative to the fixed part, and the upper end of the movable part is connected with the lower end of a piece to be unfolded and folded; the telescopic supporting rod mechanism is arranged beside the sliding mechanism and comprises a telescopic rod piece, and the rod piece is connected with the upper end of the to-be-unfolded material receiving part. The bulletproof panel can be flexibly placed and quickly folded and unfolded, is convenient to realize automatic control on an unmanned vehicle, and enhances the flexibility and the protection capability.)
1. The unfolding and folding device is characterized by comprising a telescopic supporting rod mechanism and a sliding mechanism, wherein,
the sliding mechanism comprises a fixed part at the bottom and a movable part above the fixed part, the movable part moves back and forth relative to the fixed part, and the upper end of the movable part is connected with the lower end of the piece to be folded and unfolded;
the telescopic supporting rod mechanism is arranged beside the sliding mechanism and comprises a telescopic rod piece, and the rod piece is connected with the upper end of the to-be-unfolded member.
2. The unfolding apparatus for unfolding and folding a foldable and foldable object according to claim 1, wherein the lower end of the foldable and foldable object is rotatably connected with the fixed part through the movable part, and the rod is flexibly connected with the upper end of the foldable and foldable object.
3. The unfolding and folding device as claimed in claim 1 or 2, wherein said telescopic support bar mechanism further comprises a rotation driving element and a telescopic driving element, said rotation driving element drives said telescopic bar to rotate relative to the horizontal plane, and said telescopic driving element drives said telescopic bar to stretch up and down relative to the horizontal plane.
4. The unfolding and folding device as claimed in claim 3, wherein said telescopic support rod mechanism further comprises a erecting mechanism, said erecting mechanism comprises a groove, said unfolding and folding device further comprises a receiving groove, said receiving groove is horizontally disposed at the bottom of said rod, the bottom of said rod is rotatably installed in said groove of said erecting mechanism, and said rotary driving element drives said telescopic rod to rotate between the position of said receiving groove and the position of the telescopic direction.
5. The unfolding and folding device as claimed in claim 4, wherein the telescopic rods are in a group, the rods are arranged side by side, correspondingly, the erecting mechanism is also in a group corresponding to the rods, the accommodating grooves are also in a group corresponding to the rods, and the rods are in linkage movement.
6. The device of claim 1, 2, 4 or 5, wherein the telescopic support rod mechanism further comprises a traction cable winch assembly, the traction cable winch assembly comprises a flexible cable and a winding winch, the winding winch is arranged on the telescopic rod, one end of the flexible cable is wound on the winding winch, and the other end of the flexible cable is connected with the upper end of the piece to be unfolded.
7. The apparatus of claim 6, wherein the tow cable winch assembly further comprises a winch drive member that drives the wind-up winch to rotate clockwise or counterclockwise.
8. The device of claim 1, 2 or 4, wherein the sliding mechanism is a rack and pinion engagement structure, wherein,
the fixed part is of a rack structure, the rack structure comprises a chute and a rack, and the chute and the rack are arranged in parallel;
the movable part comprises a gear unit and an articulated support, a gear of the gear unit is meshed with the rack, the articulated support comprises a base and a supporting part, the base is connected with the gear unit and is in sliding fit with the sliding groove, and the supporting part is hinged with the base and is used for fixing the lower end of the piece to be unfolded and folded.
9. A bulletproof panel device, comprising a bulletproof panel set and the unfolding and folding device of any one of claims 1 to 8, wherein the bulletproof panel set comprises a set of bulletproof panels which can be folded or unfolded up and down, the lower end of the bulletproof panel set is fixed on the sliding mechanism of the unfolding and folding device, and the upper end of the bulletproof panel set is connected with a rod piece of the telescopic support rod mechanism.
10. The ballistic panel assembly of claim 9 wherein the set of ballistic panels comprises a top layer of ballistic panels, a middle layer of ballistic panels and a bottom layer of ballistic panels, the ballistic panels of each two adjacent layers being hingedly connected, the set of ballistic panels being "Z" shaped in the collapsed state; a bulletproof glass window is embedded in the top layer bulletproof panel, the middle layer bulletproof panel is provided with a shooting hole, and the front and the rear of the shooting hole are provided with a slidable bulletproof cover plate; the bottom bulletproof panel is in joggle connection with the movable part of the sliding mechanism.
11. Ballistic panel arrangement according to claim 9 or 10, characterized in that the ballistic panel is made of at least one of ultra high molecular weight polyethylene fibers, aramid fiber reinforced composites.
12. A ballistic panel installation according to claim 9 or 10, further comprising a movable turntable, said movable turntable being horizontally rotatable through 360 degrees, said movable turntable being provided with said telescopic support bar mechanism and sliding mechanism.
13. An unmanned vehicle comprising a main body, a running gear and the ballistic panel arrangement of any of claims 9 to 12, said ballistic panel arrangement being disposed on said main body.
14. The unmanned vehicle of claim 13, wherein the traveling mechanism is a crawler-type mechanism, the unmanned vehicle further comprises a battery module, a control module and an image sensing assembly, and the housings of the battery module, the control module and the image sensing assembly are all made of at least one of armored steel plates, ultra-high molecular weight polyethylene fiber/aramid fiber reinforced composite materials and bulletproof glass; the image sensing assembly is arranged at the upper end of the telescopic supporting rod mechanism; the battery module comprises a rechargeable battery and is mounted on the main vehicle body; the control module group comprises a communication antenna, a control circuit and a terminal controller, wherein the communication antenna and the control circuit are arranged on the main vehicle body, and the terminal controller remotely controls the control circuit to control the unfolding and folding device through the communication antenna.
15. A method of controlling the rapid deployment and retraction of the ballistic panel assembly of any one of claims 9 through 12 comprising the steps of:
when the bulletproof panel set and the telescopic rod piece are in a folded or contracted state and need to be unfolded:
a0, enabling the sliding mechanism to drive the bulletproof panel set to move, and reserving an unfolding space;
b0, extending the rod piece of the telescopic support rod mechanism in the telescopic direction, and simultaneously driving the bulletproof panel set to expand in the extending direction;
when the bulletproof panel set and the telescopic rod piece are in an unfolded or extended state and need to be folded:
a1, driving the bulletproof panel set to move by the sliding mechanism to leave a folding space;
and B1, enabling the rod piece of the telescopic support rod mechanism to contract in the telescopic direction, and simultaneously driving the bulletproof panel set to fold in the contraction direction.
16. The control method of claim 15, further comprising one or more of the following features:
the deployment method further comprises, after the step B0:
c0, enabling the sliding mechanism to drive the bulletproof panel set to return to the original position;
the unfolding method further comprises the following steps before the step B0:
a01, rotating the rod of the telescopic support rod mechanism from the storage position to the position in the telescopic direction;
in the deployment method, the method further comprises:
b01, tightening the traction rope by controlling a traction rope winch of the telescopic supporting rod mechanism to drive the bulletproof panel set to gradually expand from bottom to top;
the folding method further includes, after the step B1:
c1, rotating the rod of the telescopic support rod mechanism to a storage position;
d1, enabling the sliding mechanism to drive the bulletproof panel set to return;
in the folding method, the method further comprises:
b10, the traction rope is loosened by controlling a traction rope winch of the telescopic supporting rod mechanism, so that the bulletproof panel set is gradually folded from top to bottom.
Technical Field
The invention relates to the technical field of manufacturing of military police bulletproof equipment, in particular to a folding and unfolding device, a bulletproof panel device and an unmanned vehicle with the device.
Background
Urban combat is increasingly becoming an important combat style for future army and special police, and personnel in hiking are extremely easy to be attacked by enemy light weapons, explosive devices and roadside bombs and cause serious casualties due to the lack of protection of armored vehicles, so that the fighting individual soldiers/single police wear protective equipment such as helmets, body armor and the like. However, due to the limitation of human body load capacity, heavy individual protective equipment can seriously affect the mobility of an individual soldier on one hand, and can only provide certain ballistic protection for limited parts such as the head, the trunk and the like on the other hand, and a large number of parts are still directly exposed to the threats of bullets, explosion fragments and shock waves. Although the traditional bulletproof shield can provide protection for individual soldiers/police, the traditional bulletproof shield is difficult to be widely applied to the constantly changing tactical environment due to inherent defects of large weight, difficulty in carrying and the like.
Therefore, the invention aims to search for a bulletproof device which is flexible, strong in protection force and suitable for being matched with an individual soldier/individual police team to use and a related technology.
Disclosure of Invention
In view of the above, the present invention provides a folding and unfolding apparatus, a bulletproof panel apparatus, a control method thereof, and an unmanned vehicle, so as to achieve automatic folding and unfolding of the bulletproof panel apparatus, so that the bulletproof panel can be rapidly folded and unfolded and has strong protection capability.
The invention firstly provides a folding and unfolding device, which comprises a telescopic supporting rod mechanism and a sliding mechanism, wherein,
the sliding mechanism comprises a fixed part at the bottom and a movable part above the fixed part, the movable part moves back and forth relative to the fixed part, and the upper end of the movable part is connected with the lower end of the piece to be folded and unfolded;
the telescopic supporting rod mechanism is arranged beside the sliding mechanism and comprises a telescopic rod piece, and the rod piece is connected with the upper end of the to-be-unfolded member.
The unfolding and folding device can enable the to-be-unfolded and folded piece to leave a certain space after sliding, and then the to-be-unfolded and folded piece is driven to be unfolded or folded through the stretching of the telescopic supporting rod mechanism.
According to an embodiment of the present invention, the lower end of the member to be deployed is rotatably connected to the fixed portion through the movable portion, and the rod member is flexibly connected to the upper end of the member to be deployed. By the design, the to-be-unfolded receiving piece can rotate by a certain angle in the folding state, the upper end of the to-be-unfolded receiving piece can be gradually stretched, and the distance between the to-be-unfolded receiving piece and the telescopic rod piece can be flexibly adjusted according to the position of the to-be-unfolded receiving piece.
According to an embodiment of the present invention, the telescopic supporting rod mechanism further comprises a rotation driving element and a telescopic driving element, the rotation driving element drives the telescopic rod to rotate relative to the horizontal plane, and the telescopic driving element drives the telescopic rod to extend and retract up and down relative to the horizontal plane.
According to an embodiment of the present invention, the telescopic supporting rod mechanism further includes a erecting mechanism, the erecting mechanism includes a groove, the unfolding and folding device further includes a receiving groove, the receiving groove is disposed at the bottom of the rod member along a horizontal direction, the bottom of the rod member is rotatably connected to the groove of the erecting mechanism, and the rotation driving element drives the telescopic rod member to rotate between the position of the receiving groove and the position of the telescopic direction.
According to an embodiment of the present invention, the telescopic rods are a group of rods, the group of rods are arranged in parallel, correspondingly, the erecting mechanism is also a group corresponding to the rods, the accommodating groove is also a group corresponding to the rods, and the group of rods moves in a linkage manner.
According to an embodiment of the present invention, the telescopic support rod mechanism further comprises a traction cable winch assembly, the traction cable winch assembly comprises a flexible cable and a winding winch, the winding winch is disposed on the telescopic rod, one end of the flexible cable is wound on the winding winch, and the other end of the flexible cable is connected to the upper end of the member to be deployed.
According to an embodiment of the invention, the haulage cable winch assembly further comprises a winch drive member, the winch drive member driving the winding winch to rotate clockwise or counter-clockwise.
According to one embodiment of the present invention, the sliding mechanism is a rack and pinion engagement structure, wherein,
the fixed part is of a rack structure, the rack structure comprises a chute and a rack, and the chute and the rack are arranged in parallel;
the movable part comprises a gear unit and an articulated support, a gear of the gear unit is meshed with the rack, the articulated support comprises a base and a supporting part, the base is connected with the gear unit and is in sliding fit with the sliding groove, and the supporting part is hinged with the base and is used for fixing the lower end of the piece to be unfolded and folded.
The invention also provides a bulletproof panel device which comprises a bulletproof panel group and the unfolding and folding device, wherein the bulletproof panel group comprises a group of bulletproof panels which can be folded or unfolded up and down, the lower end of the bulletproof panel group is fixed on the sliding mechanism of the unfolding and folding device, and the upper end of the bulletproof panel group is connected with the rod piece of the telescopic supporting rod mechanism.
According to one embodiment of the invention, the bulletproof panel set comprises a top bulletproof panel, a middle bulletproof panel and a bottom bulletproof panel, wherein the bulletproof panels of every two adjacent layers are connected in a hinged manner, and the bulletproof panel set is Z-shaped in a folded state; a bulletproof glass window is embedded in the top layer bulletproof panel, the middle layer bulletproof panel is provided with a shooting hole, and the front and the rear of the shooting hole are provided with a slidable bulletproof cover plate; the bottom bulletproof panel is in joggle connection with the movable part of the sliding mechanism.
According to one embodiment of the invention, the ballistic panel is made of at least one of ultra high molecular weight polyethylene fibers, aramid fiber reinforced composites.
According to an embodiment of the present invention, the bulletproof panel apparatus further includes a movable turntable, the movable turntable can horizontally rotate 360 degrees, and the movable turntable is provided with the telescopic support rod mechanism and the sliding mechanism.
The invention further provides the unmanned vehicle which comprises a main vehicle body, a travelling mechanism and the bulletproof panel device, wherein the bulletproof panel device is arranged on the main vehicle body.
According to one embodiment of the invention, the walking mechanism is a crawler-type mechanism, the unmanned vehicle further comprises a battery module, a control module and an image sensing assembly, and the shells of the battery module, the control module and the image sensing assembly can be made of at least one of an armored steel plate, an ultra-high molecular weight polyethylene fiber/aramid fiber reinforced composite material and transparent bulletproof glass; the image sensing assembly is arranged at the upper end of the telescopic supporting rod mechanism; the battery module comprises a rechargeable battery and is mounted on the main vehicle body; the control module group comprises a communication antenna, a control circuit and a terminal controller, wherein the communication antenna and the control circuit are arranged on the main vehicle body, and the terminal controller remotely controls the control circuit to control the unfolding and folding device through the communication antenna.
The invention also provides a control method for rapidly unfolding and folding the bulletproof panel device, which comprises the following steps:
when the bulletproof panel set and the telescopic rod piece are in a folded or contracted state and need to be unfolded:
a0, enabling the sliding mechanism to drive the bulletproof panel set to move, and reserving an unfolding space;
b0, extending the rod piece of the telescopic support rod mechanism in the telescopic direction, and simultaneously driving the bulletproof panel set to expand in the extending direction;
when the bulletproof panel set and the telescopic rod piece are in an unfolded or extended state and need to be folded:
a1, driving the bulletproof panel set to move by the sliding mechanism to leave a folding space;
and B1, enabling the rod piece of the telescopic support rod mechanism to contract in the telescopic direction, and simultaneously driving the bulletproof panel set to fold in the contraction direction.
According to an embodiment of the invention, the method further comprises one or more of the following technical features:
the deployment method further comprises, after the step B0:
c0, enabling the sliding mechanism to drive the bulletproof panel set to return to the original position;
the unfolding method further comprises the following steps before the step B0:
a01, rotating the rod of the telescopic support rod mechanism from the storage position to the position in the telescopic direction;
in the deployment method, the method further comprises:
b01, tightening the traction rope by controlling a traction rope winch of the telescopic supporting rod mechanism to drive the bulletproof panel set to gradually expand from bottom to top;
the folding method further includes, after the step B1:
c1, rotating the rod of the telescopic support rod mechanism to a storage position;
d1, enabling the sliding mechanism to drive the bulletproof panel set to return;
in the folding method, the method further comprises:
b10, the traction rope is loosened by controlling a traction rope winch of the telescopic supporting rod mechanism, so that the bulletproof panel set is gradually folded from top to bottom.
The invention can realize automatic and rapid exhibition and collection of articles, such as bulletproof panels, and unmanned vehicle carrying of the bulletproof panels, combines the bulletproof panels with the unmanned vehicle carrying platform, can greatly reduce the fighting load of single soldiers/single polices, provides high-efficiency protection for the pedestrian fighters who are not protected by armored vehicles, and expands the traditional individual protection concept.
The unfolding and folding device can realize automatic and rapid unfolding and folding, is flexible in action design, is matched with sliding operation to ensure that the folding and unfolding device is convenient to store and can be rapidly unfolded and folded, and can be applied to a mode of high-efficiency operation.
According to the folding/unfolding mechanism disclosed by the invention, the foldable bulletproof panel can be quickly unfolded and stored within 15s in a remote control mode, and the real-time protection requirement of a battlefield can be better met.
The front protection area of the foldable bulletproof panel can exceed 1.05m after being unfolded2And 1 standing fighter can be masked. Meanwhile, the unmanned vehicle bearing platform also has certain bulletproof capability, and the battlefield viability of the whole equipment is further enhanced.
According to the invention, as the bulletproof panel is not worn next to the skin, the concave depth of the bulletproof material after being shot does not need to be considered, and the bullet can be judged to meet the protection requirement as long as the bullet does not penetrate through the panel, so that higher bulletproof capability can be obtained under the condition of the same areal density.
The bullet-facing surface and the non-bullet-facing surface of the foldable bulletproof panel can be connected in a hinged mode through two different movable hinges, the bullet-facing surface can be an outward-protruding rigid hinge, and due to the fact that the strength is high, ballistic impact of bullets and fragments can be resisted. The non-bullet-facing surface can be a hinge type hinge, and the size can be reduced without interfering the movement of the telescopic supporting rod because the non-bullet-facing surface does not directly face ballistic impact.
The connection part of the foldable bulletproof panel and the bearing platform can adopt the design of a fixed clamping groove and a fastening clamping tenon, and the foldable bulletproof panel can be completely disassembled after the bulletproof panel is withdrawn from a battlefield. Meanwhile, if the bulletproof panel or the bearing platform is damaged, quick replacement and repair can be carried out.
According to the invention, the surrounding camera can be additionally arranged at the top of the telescopic support rod structure, and the camera can independently work only by vertically unfolding the telescopic support rod no matter the foldable bulletproof panel is in a folded or unfolded state, so that an individual soldier/single police can receive an image signal sent by the camera through the handheld tactical terminal controller, and assist teams to observe the surrounding environment of a battlefield, thereby improving the flexibility of the equipment.
The unmanned vehicle bearing platform has all-terrain mobility and can quickly pass through typical rugged terrains such as urban roadways, deserts, mountains and the like.
Drawings
Fig. 1 is a front view (deployed state) of an unmanned vehicle equipped with a rapid deployment and retraction ballistic panel assembly in accordance with an embodiment of the present invention;
fig. 2 is a rear view of an unmanned vehicle equipped with a rapid deployment and retrieval ballistic panel assembly according to an embodiment of the present invention (deployed state);
fig. 3a-3f are schematic diagrams illustrating the process of stowing the foldable bulletproof panel of the unmanned vehicle equipped with the rapid unfolding and folding bulletproof panel device according to an embodiment of the present invention;
fig. 4a and 4b are schematic views of a connection structure of a foldable bulletproof panel and a fixing device according to an embodiment of the invention;
fig. 5a is a schematic structural view of a sliding mechanism of a folding and unfolding apparatus of an unmanned vehicle according to an embodiment of the present invention;
fig. 5b is a schematic structural view of a sliding mechanism of the unfolding and folding device according to an embodiment of the invention;
fig. 5c is a schematic view of another perspective structure of the sliding mechanism of the unfolding and folding device according to the embodiment of the invention;
reference numbers in the figures:
1. a camera; 2. an observation window; 3. a convex rigid hinge; 4. a cover plate; 5. a shooting hole; 6. a middle layer ballistic panel; a bottom ballistic panel; 8. fixing the clamping groove; 9. a sliding mechanism; a fixed portion 91; a movable portion 92; 10. a movable turntable; 11. a main body; 12. a traveling mechanism; 13. a top layer ballistic panel; 14. a telescopic support rod mechanism; 141 rod members; a fixed shaft; 16. a hinge type hinge; 17. a communication antenna; 18. a hinged support; a base 181; a support portion 182; 19, a chute; 20. a battery module; 21. a fixed hook; 22. a fixing ring; 23. a erecting mechanism; a groove 231; 24. the bottom of the rod piece; 25. a receiving groove; 26. a winch; 27. a traction rope; 28. fastening the clamping tenon upwards; 29. a lower fastening tenon; a "convex" configuration; 31. a self-locking device; 32. a motor; 33. a rack; 34. a gear; 35. derailment prevention device.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
In order to realize the flexible storage, extension and carrying convenience of the bulletproof panel device and enhance the protection performance for battles, the invention seeks a technology which can flexibly arrange the bulletproof panel device on a bearing platform, such as an unmanned vehicle.
In order to bring the storage and use of the bulletproof panel device closer to the goals of volume reduction, flexible use and rapidness, the invention firstly provides an unfolding and folding device, as shown in figures 1 and 2, which comprises a telescopic supporting rod mechanism 14 and a sliding mechanism 9, wherein,
the sliding mechanism 9 comprises a fixed part 91 at the bottom and a movable part 92 at the upper part (shown in fig. 5 b), the movable part 92 moves back and forth relative to the fixed part 91, and the upper end of the movable part 92 is connected with the lower end of a piece to be folded (such as a bulletproof panel device);
the telescopic supporting rod mechanism 14 is arranged beside the sliding mechanism 9, the telescopic supporting rod mechanism 14 includes a telescopic rod 141 (as shown in fig. 2), and the rod 141 is connected with the upper end of the member to be unfolded.
The unfolding and folding device can enable the to-be-unfolded and folded piece to leave a certain space after sliding, and then the to-be-unfolded and folded piece is driven to be unfolded or folded through the stretching of the telescopic supporting rod mechanism. The member to be deployed may be, without limitation, a flexible article or a rigid article flexibly connected.
The unfolding and folding device of the invention can be applied to other fields, and is not limited to bulletproof panel devices.
According to an embodiment of the present invention, the lower end of the member to be deployed is rotatably connected to the fixed portion 91 through the movable portion 92, and the rod member 141 is flexibly connected to the upper end of the member to be deployed. By the design, the to-be-unfolded receiving piece can rotate by a certain angle in the folding state, the upper end of the to-be-unfolded receiving piece can be gradually stretched, and the distance between the to-be-unfolded receiving piece and the telescopic rod piece can be flexibly adjusted according to the position of the to-be-unfolded receiving piece.
According to an embodiment of the present invention, the telescopic support rod mechanism further comprises a rotation driving element such as a motor (not shown in the drawings, and installed on either the left side or the right side of the erecting mechanism 23) and a telescopic driving element (not shown in the drawings, and located inside the telescopic support rod), wherein the rotation driving element drives the telescopic rod 141 to rotate relative to the horizontal plane, and the telescopic driving element drives the telescopic rod to extend and retract up and down relative to the horizontal plane.
According to an embodiment of the present invention, the telescopic supporting rod mechanism further includes a erecting mechanism 23, the erecting mechanism 23 includes a groove 231, the unfolding and folding device further includes a receiving groove 25, the receiving groove 25 is disposed at the bottom of the rod member along a horizontal direction, the bottom of the rod member 141 is rotatably mounted in the groove 231 of the erecting mechanism 23, and the rotation driving element drives the telescopic rod member to rotate between the position of the receiving groove 25 and the position of the telescopic direction (e.g., the vertical direction in the figure).
According to an embodiment of the present invention, as shown in fig. 2, the telescopic rods 141 are a group, the group of rods are arranged side by side, accordingly, the erecting mechanism 23 is also a group corresponding to the rods, the accommodating groove 25 is also a group corresponding to the rods, and the group of rods moves in a linkage manner.
According to one embodiment of the invention, each of said telescopic bars is preferably composed of 2-4 electric telescopic support bars.
According to an embodiment of the present invention, the telescopic support rod mechanism further comprises a traction cable winch assembly, the traction cable winch assembly comprises a flexible cable and a winding winch such as a winch 26, the winding winch is arranged on the telescopic rod, one end of the flexible cable is wound on the winding winch, and the other end of the flexible cable is connected with the upper end of the member to be unfolded.
According to an embodiment of the invention, the haulage cable winch assembly further comprises a winch drive member, the winch drive member driving the winding winch to rotate clockwise or counter-clockwise. A capstan driving member such as a motor is installed in the hollow tube of the telescopic support rod, and a motor driving shaft is connected with the capstan to drive the capstan to rotate clockwise or counterclockwise. Of course, the tow cable winch assembly may also be manually actuated by rotating the handle to thereby rotate the winding winch attached to the handle clockwise or counterclockwise.
The sliding mechanism may be an electric motor or a hydraulic or pneumatic direct push type sliding mechanism, or according to an embodiment of the present invention, as shown in fig. 5a, 5b, 5c, the sliding mechanism is a rack and pinion engagement structure, wherein,
the fixed part is of a rack structure, the rack structure comprises a sliding groove 19 and a
the movable part comprises a gear unit and a hinged
The gear unit may comprise a drive motor, such as
The invention also provides a bulletproof panel device which comprises a bulletproof panel group and the unfolding and folding device, wherein the bulletproof panel group comprises a group of bulletproof panels which can be folded or unfolded up and down, the lower end of the bulletproof panel group is fixed on the sliding mechanism of the unfolding and folding device, and the upper end of the bulletproof panel group is connected with the rod piece of the telescopic supporting rod mechanism.
The number of panels comprised by the ballistic panel set is not limited and can be set as desired.
According to one embodiment of the invention, the foldable bulletproof panel is composed of 3-6 composite bulletproof panels, the panels are respectively connected by 2-4 groups of movable hinges, the panels are folded alternately in a Z shape (not limited to one Z shape and can extend up and down) when being stored, and all the panels are driven by the unfolding and folding device to respectively extend around the movable hinges when being unfolded. After the foldable bulletproof panel is unfolded, the bullet-facing surface is arranged on one side departing from the telescopic supporting rod mechanism, and the non-bullet-facing surface is arranged on one side close to the telescopic supporting rod mechanism.
Further, the total protection area of the bullet-facing surface of the foldable bulletproof panel after being unfolded is not less than 1.05m2The protection capability at least meets the requirement of a 56-type 7.62mm steel core common bullet which is emitted from a 15-meter position by a 56-type submachine gun.
Furthermore, the connection between the foldable bulletproof panels adopts a convex rigid hinge or a hinge type hinge. The hinges are arranged on the foldable bulletproof panel in a mode of punching in a rivet or bolt mode, preferably, the hinges arranged outside the bullet-facing surface are convex rigid hinges, and the hinges arranged outside the non-bullet-facing surface are hinge hinges.
According to one embodiment of the invention, as shown in fig. 1, 2, 3a-3f, the set of ballistic panels comprises a top ballistic panel 13, a middle ballistic panel 6 and a bottom ballistic panel 7, the ballistic panels of each two adjacent layers being hingedly connected, the set of ballistic panels being "Z" shaped in a collapsed state. The panels can be connected by a plurality of groups of movable hinges respectively.
Further, a bulletproof glass window is embedded in the top bulletproof panel 13 as an observation window 2 in fig. 1 and 2, and bulletproof glass embedded in the top bulletproof panel has the same protection capability as the bulletproof panel and is used for observing enemies by single soldiers/single policemen.
Further, as shown in fig. 1 and 2, the middle bulletproof panel 6 is provided with a shooting hole 5, and both the front and the rear of the shooting hole are provided with a bulletproof cover plate 4 capable of sliding, and the shooting hole can be used for shooting after sliding the cover plate 4. According to one embodiment of the invention, the middle layer ballistic panel 6 consists of 1-4 panels. The protection capability of the bulletproof cover plates 4 in front of and behind the shooting hole of the panel of the middle layer is the same as that of the bulletproof panel, the front bulletproof cover plate and the rear bulletproof cover plate can be fixed on the shaft 15, when the shaft 15 is rotated, the two bulletproof cover plates can slide towards the same direction, the shooting hole is opened or closed, and even when the bullet-proof cover plates in front of and behind the middle layer are used, the bullet-proof cover plates can slide along the fixed shaft 15 of the bulletproof cover plates in the same direction for.
Further, the bottom ballistic panel 7 is detachably connected to the movable part of the sliding mechanism 9, such as a snap connection, a screw connection or a dovetail connection.
According to one embodiment of the invention, as shown in fig. 4a, the lower edge of the bottom bulletproof panel 7 is in a "convex" structure 30 and can be inserted into the
According to one embodiment of the invention the foldable ballistic panel consists of a plurality of composite ballistic panels, such as the ballistic panel is made of at least one of ultra high molecular weight polyethylene fibers, aramid fiber reinforced composites.
According to an embodiment of the present invention, the bulletproof panel device further includes a movable turntable 10, the movable turntable 10 can horizontally rotate 360 degrees, and the telescopic support rod mechanism 14 and the sliding mechanism 9 are disposed on the movable turntable 10.
The invention also provides an unmanned vehicle, as shown in fig. 1, 2 and 3a-3f, which provides a bearing platform for the bulletproof panel device, and comprises a
According to one embodiment of the present invention, the travel mechanism 12 may be a track-type mechanism. Of course, other mechanisms such as wheels may be used.
Further, the crawler belt, the loading wheels, the driving wheels, the driven wheels and the like in the crawler belt type travelling mechanism can be made of metal or rubber, and the tires in the wheel type travelling mechanism can be inflation-free bulletproof tires.
The unmanned vehicle further comprises a battery module 20, a control module and an image sensing assembly, wherein the shells of the battery module, the control module and the image sensing assembly can be made of at least one of armored steel plates and ultra-high molecular weight polyethylene fiber/aramid fiber reinforced composite materials.
The image sensing assembly is arranged at the upper end of the telescopic supporting rod mechanism and can comprise a camera 1 for monitoring the running state of the device, so that the monitoring signal is transmitted to the control terminal through the communication device.
The battery module 20 may include a rechargeable battery, and is mounted to the main body so as to supply power to the entire device. According to one embodiment of the present invention, the battery modules 20 are detachably mounted on both sides of the main body.
The control module (not shown in the figure) can include communication antenna, control circuit and terminal controller, communication antenna, control circuit locate main automobile body, terminal controller passes through communication antenna remote control circuit is right exhibition receipts device is controlled. The terminal controller may be a hand-held remote control type structure. But can be mounted on other equipment.
According to one embodiment of the invention, the unmanned vehicle bearing platform is provided with a movable turntable 10, the movable turntable can be arranged in the middle of the main vehicle body and can rotate 360 degrees, and the movable turntable is provided with a sliding mechanism and a telescopic supporting rod mechanism.
As shown in fig. 1 and 2, the sliding mechanism 9 is connected with the
Furthermore, the main body of the bearing platform, the battery module and the shell of the control module are all made of at least one of an armored steel plate and an ultra-high molecular weight polyethylene fiber/aramid fiber reinforced composite material, and the protection capability at least meets the requirement of a 51B type 7.62mm steel core common projectile which is emitted from a 10-meter position by a 79 type 7.62mm light submachine gun.
Further, the bottom of the electric telescopic support rod mechanism is connected with a erecting mechanism of the electric telescopic support rod mechanism, the driving element drives the bottom of a rod piece of the electric telescopic support rod to rotate so as to realize the conversion of a horizontal storage state and a vertical erecting state of the electric telescopic support rod mechanism, and a traction cable winch 26 and a surrounding camera 1 are installed at the top of the rod piece of the electric telescopic support rod mechanism.
Further, the mechanism 23 fixed mounting is erected on the movable rotary table 10 to electronic flexible bracing piece, electronic flexible bracing piece mechanism bottom 24 is packed into play in erecting the recess of mechanism 23, both sides can respectively be fixed with an axis of rotation about electronic flexible bracing piece mechanism bottom, erect one side of mechanism and install motor (not shown in the figure), the output shaft of motor and the axis of rotation fixed connection of electronic flexible bracing piece mechanism bottom one side, the axis of rotation of electronic flexible bracing piece mechanism bottom opposite side is connected with the loose bearing who erects the mechanism opposite side, motor drive electronic flexible bracing piece is rotatory, realize that electric telescopic handle carries out the conversion of horizontal state of accomodating and the state of expanding perpendicularly.
Furthermore, the sliding mechanism 9 is connected with the fixed
Furthermore, the control circuit is connected with a rod member stretching and rotating motor of the electric stretching support rod mechanism and used for controlling stretching or rotating of the mechanism, and the control circuit is connected with the handheld tactical terminal through the telescopic communication antenna.
Further, each hauling cable winch 26 can be provided with 1-3 hauling cables 27 with self-locking fixing hooks 21, and the winches 26 are arranged around the camera 1. The self-locking fixing hook 21 is matched with a fixing ring 22 on the bulletproof panel device.
Furthermore, the shell surrounding the camera can be made of transparent bulletproof materials, the camera can rotate 360 degrees, and the camera has visible light, low light and infrared imaging capabilities.
Furthermore, the handheld tactical terminal can control the unmanned vehicle to execute various maneuvering actions, operate the quick unfolding mechanism, receive real-time images sent by the surrounding camera and display the images to an operator through a liquid crystal screen arranged on the remote controller.
According to an embodiment of the present invention, the present invention further provides a method for controlling an unmanned vehicle with an automatic rapid deployment bulletproof panel, which may correspond to the sequence from 3f to 3a in the illustrated flow, and comprises the following detailed steps:
step 1, an operator firstly pulls out a traction rope from a traction rope winch and sequentially connects a self-locking fixing hook on the traction rope with a panel fixing ring on a top layer bulletproof panel;
step 2, starting the unmanned vehicle and carrying out wireless communication connection with the handheld tactical terminal;
step 3, opening a sliding-out switch of a sliding mechanism on the handheld tactical terminal, driving a gear connected with a hinged support to walk along a rack on the sliding mechanism by a motor, and automatically translating forwards from an initial position to a maximum sliding-out position to provide a necessary extension space for unfolding the foldable bulletproof panel;
step 4, opening a bulletproof panel unfolding switch on the handheld tactical terminal, and driving the bottom of the electric telescopic rod piece to rotate 90 degrees anticlockwise by using the motor so that the electric telescopic rod piece is changed from a horizontal storage state to a vertical state from the storage groove;
step 5, opening an unfolding switch of an electric telescopic support rod mechanism on the handheld tactical terminal, switching on a power supply of the electric telescopic support rod mechanism, enabling an electric telescopic rod to extend upwards, tightening a traction rope by a traction rope winch on the electric telescopic rod, unfolding the top layer bulletproof panel around a convex rigid hinge at first under the driving of the traction rope, unfolding the middle layer bulletproof panel around a hinge type hinge, unfolding the bottom layer bulletproof panel tightly combined with the panel fixing clamping groove around a hinge support from a horizontal accommodating state to a vertical direction, and completely unfolding the bulletproof panel when the electric telescopic support rod is lifted to the top;
step 6, opening a sliding mechanism slide-in switch on the handheld tactical terminal, driving a hinged support by a motor to translate the fully unfolded foldable bulletproof panel backwards along a rack on the sliding mechanism, after translating to an initial position, locking a traction cable winch and the hinged support to ensure that the bulletproof surface of the foldable bulletproof panel is vertical to the horizontal plane, and enabling individual soldiers/single policemen to quickly pass through threat areas under the shelter of unmanned vehicles or to provide protection as temporary shelters;
step 7, observing the battlefield situation by the individual soldier/single police through the bulletproof glass observation window and the image data surrounding the camera, opening the bulletproof cover plate of the shooting hole, and extending the barrel of the light weapon out of the shooting hole for shooting;
and 8, the foldable bulletproof panel arranged on the movable rotary table can rotate 360 degrees, so that the damage threats in different directions can be quickly dealt with.
The steps are not necessarily all provided, and the steps are not limited by the above examples.
The control method of the unmanned vehicle corresponds to a structural schematic from 3a to 3f in the sequence of the flow, and further comprises a method for accommodating the bulletproof panel, wherein the method comprises the following steps:
step 1, opening a sliding-out switch of a sliding mechanism on the handheld tactical terminal, relieving a locked state of a traction cable winch, and driving a hinged support to translate forwards to a maximum sliding-out position along a rack on the sliding mechanism by a motor to provide a necessary accommodating space for folding a foldable bulletproof panel;
step 2, a contraction switch of an electric telescopic support rod mechanism on the handheld tactical terminal is opened, the electric telescopic rod member contracts downwards, a traction cable winch on the electric telescopic rod member contracts along with the electric telescopic rod member to slowly release a traction cable, the top layer bulletproof panel is naturally folded around the convex rigid hinge under the action of gravity, the middle layer bulletproof panel is naturally folded around the hinge type hinge, the bottom layer bulletproof panel is converted from a vertical unfolding state to a parallel accommodating state around the hinge type support, the whole foldable bulletproof panel finally returns to a Z-shaped folded state, and the traction cable is completely in a relaxed state;
step 3, opening a bulletproof panel storage switch on the handheld tactical terminal, driving the bottom of the electric telescopic rod piece to rotate 90 degrees clockwise by the motor, enabling the electric telescopic rod piece to fall backwards and be collected into a storage groove on the movable rotary table, and enabling the telescopic communication antenna to also perform contraction operation;
and 4, opening a sliding mechanism sliding-in switch on the handheld tactical terminal, and driving the hinged support to translate backwards to an initial position along a rack on the sliding mechanism and lock by the motor, wherein the hinged support is in a completely-contained state.
The steps are not necessarily all provided, and the steps are not limited by the above examples.
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