阅读说明：本技术 一种具备智能察打一体功能的无人机用微型武器系统 (Unmanned aerial vehicle micro weapon system with intelligent observing and hitting integrated function ) 是由 黄春光 邓宏彬 文颀 李科伟 熊镐 潘振华 王迪 于 2019-08-29 设计创作，主要内容包括：本发明涉及武器系统技术领域,尤其是一种具备智能察打一体功能的无人机用微型武器系统,包括三自由度伺服转台、发射舱、光电火控装置、起落架、微型火箭弹,所述三自有度伺服转台上的俯仰轴两端均分别通过法兰固定安装有一个发射舱,且两个所述发射舱对称设置,所述发射舱内均填充有若干微型火箭弹,所述三自由度伺服转台上的悬臂上悬挂有光电火控装置,所述三自由度伺服转台的撑板上通过螺钉固定安装有起落架。本发明具有微型化、轻量化、低成本化、承载能力高的优点。(The invention relates to the technical field of weapon systems, in particular to a miniature weapon system for an unmanned aerial vehicle with an intelligent observing and shooting integrated function, which comprises a three-degree-of-freedom servo turntable, launching cabins, photoelectric fire control devices, landing gears and miniature rocket projectiles, wherein two ends of a pitching shaft on the three-degree-of-freedom servo turntable are respectively and fixedly provided with one launching cabin through flanges, the two launching cabins are symmetrically arranged, the launching cabins are filled with a plurality of miniature rocket projectiles, a cantilever on the three-degree-of-freedom servo turntable is suspended with the photoelectric fire control devices, and the landing gears are fixedly arranged on supporting plates of the three-degree-of-freedom servo turntable through screws. The invention has the advantages of miniaturization, light weight, low cost and high bearing capacity.)

1. The utility model provides a miniature weapon system for unmanned aerial vehicle that possesses integrative function of intelligent investigation, includes three degree of freedom servo revolving stage (1A), launch cabin (2A), photoelectricity fire control device (3A), undercarriage (4A), miniature rocket projectile (5A), a serial communication port, three degree of freedom servo revolving stage (1A) are including roll axle (17), roll axle (17) are a hollow shaft that has two step faces, first step face of roll axle (17) lower part is from up overlapping in proper order down thrust washer (19a), fagging (1), bearing washer (22), roll-over bearing (21), connecting seat (16), go up thrust washer (19b) down, the second step face of roll axle (17) upper portion is from up overlapping in proper order down and is equipped with organism fixing base (20), flange (34) and silica gel pad (18), just organism fixing base (20), The connecting flange (34) and the silica gel pad (18) are both fixed on a rolling shaft (17) through the compression of a fixing nut, a pair of first deep groove bearings (15) is fixedly installed between the connecting seat (16) and the machine body fixing seat (20), an inner gear ring (14) is fixedly installed on the machine body fixing seat (20) close to the inner part of one side of the supporting plate (1), rolling teeth (31) are fixedly installed on the inner side of the inner gear ring (14), the rolling teeth (31) are meshed with the inner gear ring (14), a rolling motor (26) is arranged under the rolling teeth (31), the rolling teeth (31) are fixedly connected onto an output shaft of the rolling motor (26), the rolling motor (26) is fixedly installed on the lower surface of the supporting plate (1), the supporting plate (1) is fixedly connected with the connecting seat (16) through screws, a conductive sliding ring (11) is arranged under the rolling shaft (17), the head of the conductive slip ring (11) is sleeved in the cavity of the rolling shaft (17);

the lower surface of the supporting plate (1) is fixedly connected with two side plates (2) which are symmetrically arranged through screws, two side plates (2) are fixedly supported through two cross beams (7) and four pull rods (50), a bearing hole position is formed in the bottom of each side plate (2), a pitch gear disc (3) and a cantilever gear disc (10) which are symmetrically arranged are fixedly installed in the bearing hole position through a second deep groove bearing (5), a pitch motor (6) is fixedly installed on each cross beam (7), pitch motor teeth (61) are fixedly installed on an output shaft of each pitch motor (6), the pitch gear discs (3) are meshed with the pitch motor teeth (61), another cantilever motor (64) is fixedly installed on each cross beam (7), the installation direction of each cantilever motor (64) is opposite to that of each pitch motor (6), and cantilever motor teeth (75) are fixedly installed on an output shaft of each cantilever motor (64), the cantilever gear plate (10) is meshed with the cantilever motor teeth (75);

a rotating pitch shaft (8) is inserted into central holes in the pitch gear disc (3) and the cantilever gear disc (10), the pitch shaft (8) is a hollow flat shaft, pins (9) which are correspondingly arranged are inserted into the head end and the tail end of the pitch shaft (8), the two pins respectively block the edges of the pitch gear disc (3) and the cantilever gear disc (10), a main cantilever (61) is sleeved in the central hole of the cantilever gear disc (10), a bearing (53) is arranged between the main cantilever (61) and the pitch shaft (8), four bearings (35) are fixedly arranged between matching surfaces of the main cantilever (61) and the cantilever gear disc (10), a slave cantilever (62) is sleeved in the central hole in the outer side of the pitch gear disc (3), and a bearing (53) is arranged between the slave cantilever (62) and the pitch shaft (8);

pitching axis (8) both ends on three degree of freedom servo revolving stage (1A) are equallyd divide and do not have one through flange (13) fixed mounting and launch cabin (2A), and two launch cabin (2A) symmetry sets up, it has a plurality of miniature rocket bullets (5A) all to fill in launch cabin (2A), cantilever (62) on three degree of freedom servo revolving stage (1A) go up to hang photoelectric fire control device (3A), there are undercarriage (4A) through screw fixed mounting on fagging (1) of three degree of freedom servo revolving stage (1A).

2. The micro weapon system for the unmanned aerial vehicle with the intelligent scouting and punching integrated function according to claim 1, wherein the launching cabin (2A) comprises five launching tubes (71), the front end parts of the five launching tubes (71) are sleeved with front end clamps (28) matched with the front end clamps, the middle parts of the five launching tubes (71) are sleeved with middle clamps (29) matched with the middle clamps, the tail parts of the five launching tubes (71) are sleeved with rear end clamps (30) matched with the rear end clamps, two pull rods (12) symmetrically arranged are fixedly installed on the inner side surface of the front end clamps (28), the inner ends of the two pull rods (12) penetrate through the middle clamps (29) and then are fixedly installed on the rear end clamps (30), and flanges (13) are fixedly installed on the outer plane of the middle clamps (29) through screws.

3. The unmanned aerial vehicle micro-weapon system with an intelligent scouting and striking integrated function as claimed in claim 2, wherein said pull rod (12) is a hollow thin-walled metal tube.

4. The unmanned aerial vehicle micro-weapon system with intelligent scouting and batting integrated function as claimed in claim 2, wherein five said launching tubes (71) are all carbon fiber launching tubes.

5. The micro-weapon system for the unmanned aerial vehicle with the integrated intelligent scouting and punching function as claimed in claim 2, wherein the outer surfaces of the front end card (28), the middle card (29) and the rear end card (30) are respectively fixedly provided with a fixing hoop (70) matched with the outer surfaces of the front end card, the middle card (29) and the rear end card through screws, and the width of the fixing hoop (70) on the middle card (29) is larger than the width of the fixing hoop (70) on the front end card (28) and the rear end card (30).

6. The micro-weapon system for the unmanned aerial vehicle with the intelligent scouting and batting integrated function according to claim 1, wherein the micro-rocket projectile (5A) comprises a tail cover (81), a tail wing (82), a rocket engine (83), a warhead (84) and a fuze cabin (85), the fuze cabin (85) is fixedly installed at the top end of the warhead (84) along the axial direction of the projectile body through screws, the rocket engine (83) is fixedly installed at the bottom end of the warhead (83) along the axial direction of the projectile body through screws, the tail wing (82) is fixedly installed on a tail shell of the rocket engine (83), the tail cover (81) is fixedly installed at the tail of the rocket engine (83), and the tail wing (82) is closely attached to the shell of the rocket engine (83) after being accommodated through the tail cover (81).

7. The micro-weapon system for the unmanned aerial vehicle with the intelligent scouting and batting integrated function according to claim 6, wherein the tail wing (82) comprises a connecting shaft (86), a rolling arc wing (87) and a torsion spring (88), four sections of the rolling arc wing (87) are uniformly arranged on the rocket engine (83) shell in an X shape, the root of each rolling arc wing (87) wing is provided with the connecting shaft (86), the rolling arc wing (87) can be rotatably installed on the connecting shaft (86), each section of the rolling arc wing (87) is fixed on a fixing ring of the rocket engine (83) shell in a hole shaft connection mode, and each connecting shaft (86) is provided with one torsion spring (83) in a compression state.

8. The micro weapon system with the intelligent observing and shooting integrated function for the unmanned aerial vehicle as claimed in claim 1, wherein the photoelectric fire control device (3A) comprises a shell (36), a PCB (37), a visible light module (38) and a laser ranging module (39), the PCB (37) is fixedly installed in the shell (36), the visible light module (38) and the laser ranging module (39) are fixedly installed on the PCB (37), the shell (36) comprises a base layer (36a) and a coating layer (36b), the coating layer (36b) is sprayed on the outer surface of the base layer (36a), the base layer (36a) is sequentially provided with a shielding layer (3601), a glass fiber board heat insulation layer (3602), a carbon fiber board layer (3603) and a ceramic fiber board fire-proof layer (3604) from inside to outside, and the coating layer (36b) is sequentially provided with a wear-resistant layer (3605) and a wear-resistant layer (3604) from inside to outside, A reflective layer (3606).

9. The micro-weapon system for unmanned aerial vehicle with intelligent scouting and batting integrated function as claimed in claim 8, wherein said shielding layer (3601) is an electromagnetic shielding film.

10. The micro-weapon system for unmanned aerial vehicle with intelligent scouting and batting integrated function as claimed in claim 8, wherein said wear layer (3605) is epoxy resin coating.

11. The unmanned aerial vehicle micro-weapon system with intelligent scouting and batting integrated function as claimed in claim 8, wherein said reflective layer (3606) is Al2O3 coating.

12. The micro-weapon system for the unmanned aerial vehicle with the intelligent observing and hitting integrated function according to claim 1, wherein the undercarriage (4A) comprises two connecting rods (1101), the two connecting rods (1101) are arranged in parallel, the micro-weapon system is characterized in that shock absorption wrapping feet (1102) are sleeved at two ends of each connecting rod (1101), two three-way connectors (1103) are sleeved on the connecting rods (1101) between the two corresponding shock absorption wrapping feet (1102), each three-way connector (1103) is arranged close to the corresponding shock absorption wrapping foot (1102), each two corresponding three-way connectors (1103) are provided with bent rods (1104) in a matched mode, and two tail ends of each bent rod (1104) are fixed through screws after being inserted into connecting ports of the corresponding three-way connectors (1103).

13. The unmanned aerial vehicle micro-weapon system with intelligent scouting and batting integrated function as claimed in claim 12, wherein said connecting rods (1101) are all carbon fiber tubes.

14. The unmanned aerial vehicle micro-weapon system with the intelligent scouting and batting integrated function as claimed in claim 12, wherein the shock absorption foot wrap (1102) is a soft rubber sleeve, and the shock absorption foot wrap (1102) is in interference fit with the connecting rod (1101).

15. The micro-weapon system for the unmanned aerial vehicle that possesses integrative function of an intelligence scouting and beating of claim 12, characterized in that, curved bar (1104) is aluminum alloy pipe, curved bar (1104) is including straight spool pipe (1106), circular arc pipe (1107), equal fixed mounting has circular arc pipe (1107) on two tip of straight spool pipe (1106), two screw holes (1105) have been opened along the length axis direction to the centre on straight spool pipe (1106).

Technical Field

The invention relates to the technical field of weapon systems, in particular to a micro weapon system for an unmanned aerial vehicle with an intelligent scouting and batting integrated function.

Background

In recent years, micro rotor unmanned aerial vehicles have the characteristics of small volume, low cost, low requirement on take-off and landing sites, convenience in carrying and use, vertical take-off, landing and hovering capabilities, are receiving more and more attention from military, armed police and special public security combat troops, and are widely used for executing light-weight tasks such as aerial photography reconnaissance and field monitoring.

The micro rotor unmanned aerial vehicle has weak impact resistance and very limited load capacity (generally not more than 5kg), how to achieve high integration, observation and beating integration, follow-up stable aiming and stable launching of a weapon system under the condition of adapting to the platform carrying capacity of the unmanned aerial vehicle, is a difficult point for researching a micro airborne intelligent observation and beating integration weapon system, and mainly comprises the following aspects:

(1) at present, the existing unmanned weapon systems at home and abroad are mainly used for ground unmanned platforms, medium and large-sized fixed wing unmanned aerial vehicles and armed unmanned helicopters, the ground unmanned platform weapon systems have better universality and carry more anti-riot bombs or grenades, the fire striking is carried out in a remote control mode, the ground weapon systems and the carried ammunitions thereof have large volume and weight, and the impact on the platforms when the ammunitions are launched is large, so that the load and impact resistance requirements of the micro rotor unmanned aerial vehicles are difficult to meet; large and medium-sized fixed wing unmanned aerial vehicle and unmanned helicopter airborne weapon system of armed need be directed against specific model special design usually, do not have the commonality, it carries the ammunition and usually is accurate guidance ammunition, carry out accurate guidance through unmanned aerial vehicle's self high accuracy optoelectronic device, realize accurate striking, airborne weapon system and carry the ammunition volume, weight are equally very big, and accurate guidance ammunition is with high costs, be difficult to satisfy microminiature rotor unmanned aerial vehicle's load requirement. Therefore, the overall technology of the low-cost and light-weight weapon system becomes the difficulty of the micro-miniature airborne intelligent surveying and striking integrated weapon system.

(2) For a survey and strike integrated weapon system, the quality of the performance of a photoelectric detection system directly influences the strike precision of the weapon system, the current home and abroad high-precision photoelectric detection system is quite mature in technology, but the photoelectric detection system is high in cost, large in size and weight, is generally used for high-value weapon systems such as medium and large unmanned aerial vehicles and strategic tactical missiles, and is a difficult point for researching a micro airborne intelligent survey and strike integrated weapon system, and how to realize the miniaturization, light weight and low cost of the photoelectric detection system on the basis of the existing research.

(3) The weapon system can receive the influence of unmanned aerial vehicle vibration, gesture and wind-force constantly in the course of the work, leads to weapon system aiming line to change along with unmanned aerial vehicle vibration and gesture, influences aim and strikes the precision. Therefore, how to realize the stability of the aiming line of the weapon system with low cost and low weight becomes the difficulty of the micro-miniature airborne intelligent observing and shooting integrated weapon system.

(4) The traditional lethal and non-lethal ammunition has the advantages of large overload, short firing range, high quality, large volume, single damage mode, high cost of accurately guided ammunition and difficulty in realizing miniaturization, so that the micro ammunition technology suitable for the micro unmanned aerial vehicle-mounted platform is also a difficulty for researching a micro airborne intelligent observing and striking integrated weapon system.

At present, many domestic and foreign units develop research work of a microminiature airborne intelligent investigation and shooting integrated weapon system, most of them adopt a mode of directly fixing ammunition on an unmanned aerial vehicle, are equipped with an infrared or visible light lens for remote control monitoring, and realize ammunition emission through a switch or an ignition signal. For example, an FE15 fire-fighting and fire-extinguishing unmanned aerial vehicle system developed by Washel in China in 2018 adopts a rocket launching tube with the diameter of 67mm and filled with a special fire extinguishing agent to be directly carried below a four-rotor fuselage, and the effective range can reach 40 m. In 2018, the QZU-01 armed unmanned aerial vehicle system jointly developed by Shenzhen light technology and Hunan military industry group also directly fixes the grenade launcher with the bottom of the unmanned aerial vehicle and can continuously launch small-caliber grenades forwards. The mode is also basically adopted internationally, for example, a miniature tactical four-rotor unmanned aerial vehicle which is about to be equipped by a Korean army reported in the Jian's defense period of 14 days in 2018 has the maximum takeoff weight of 9kg, carries 2 bombs of 500g, and attacks the bombs in a bomb projection mode.

In summary, the research on the micro unmanned aerial vehicle-mounted scouting and shooting integrated weapon system at home and abroad is still in the starting stage, and the overall technology of a low-cost and light-weight weapon system, the miniaturization, light-weight and low-cost technology of a photoelectric detection system, the aiming line stabilizing technology, the micro ammunition technology suitable for the micro unmanned aerial vehicle-mounted platform and other key technologies and difficulties are required.

The military requirements of air-to-ground reconnaissance and striking tasks are executed by utilizing a microminiature unmanned aerial vehicle in a complex environment during special operations of land, sea and air and stability maintenance of armed polices and anti-terrorism; aiming at the problem that the existing micro unmanned aerial vehicle cannot realize intelligent observing and shooting based on target locking and tracking; on the basis of the existing follow-up control and image processing technology, unmanned intelligent scouting and shooting technical research based on a rocket projectile and weapon system is developed; the method breaks through the unmanned intelligent observing and printing overall technology, the rapid identification and positioning and locking tracking algorithm under the complex background and the follow-up sight-stabilizing control technology; the effect of fighting of carrying out intelligent investigation and play to ground personnel and vehicle is reached.

Disclosure of Invention

The invention aims to solve the defects of large volume, heavy weight, high cost and poor bearing capacity in the prior art, and provides an unmanned aerial vehicle micro-weapon system with an intelligent scouting and hitting integrated function.

In order to achieve the purpose, the invention adopts the following technical scheme:

the design is a micro weapon system for the unmanned aerial vehicle with the intelligent observing and shooting integrated function, which comprises a three-degree-of-freedom servo turntable, a launching cabin, a photoelectric fire control device, an undercarriage and a micro rocket projectile, wherein the three-degree-of-freedom servo turntable comprises a rolling shaft, the rolling shaft is a hollow shaft with two step surfaces, a first step surface at the lower part of the rolling shaft is sequentially sleeved with a lower thrust washer, a supporting plate, a bearing washer, a rolling bearing, a connecting seat and an upper thrust washer from bottom to top, a second step surface at the upper part of the rolling shaft is sequentially sleeved with a machine body fixing seat, a connecting flange and a silica gel pad from bottom to top, the machine body fixing seat, the connecting flange and the silica gel pad are all pressed and fixed on the rolling shaft through fixing nuts, a pair of first deep groove bearings are fixedly installed between the connecting seat and the machine body fixing seat, and an inner gear ring is fixedly, the inner side of the inner gear ring is fixedly provided with rolling teeth, the rolling teeth are meshed with the inner gear ring, a rolling motor is arranged right below the rolling teeth, the rolling teeth are fixedly connected to an output shaft of the rolling motor, the rolling motor is fixedly arranged on the lower surface of a supporting plate, the supporting plate is fixedly connected with a connecting seat through screws, a conductive sliding ring is arranged right below the rolling shaft, and the head of the conductive sliding ring is sleeved in a cavity of the rolling shaft;

the lower surface of the supporting plate is fixedly connected with two symmetrically-arranged side plates through screws, the two side plates are fixedly supported through two cross beams and four pull rods, the bottoms of the side plates are respectively provided with a bearing hole site, a pitch gear disc and a cantilever gear disc which are symmetrically arranged are fixedly arranged in the bearing hole sites through second deep groove bearings, a pitch motor is fixedly arranged on the cross beam, pitch motor teeth are fixedly arranged on an output shaft of the pitch motor, the pitch gear disc is meshed with the pitch motor teeth, a cantilever motor is fixedly arranged on the other cross beam, the installation direction of the cantilever motor is opposite to that of the pitch motor, cantilever motor teeth are fixedly arranged on an output shaft of the cantilever motor, and the cantilever gear disc is meshed with the cantilever motor teeth;

a rotary pitch shaft is inserted into central holes on the pitch gear disc and the cantilever gear disc, the pitch shaft is a hollow flat shaft, pins which are correspondingly arranged are inserted into the head end and the tail end of the pitch shaft, the two pins respectively block the edges of the pitch gear disc and the cantilever gear disc, a main cantilever is sleeved in the central hole of the cantilever gear disc, a bearing is arranged between the main cantilever and the pitch shaft, four keys are fixedly arranged between matching surfaces of the main cantilever and the cantilever gear disc, a slave cantilever is sleeved in the central hole on the outer side of the pitch gear disc, and a bearing is arranged between the slave cantilever and the pitch shaft;

the two ends of the pitching shaft on the three-degree-of-freedom servo rotary table are respectively and fixedly provided with a launching cabin through flanges, the launching cabins are symmetrically arranged, the launching cabins are filled with a plurality of miniature rocket projectiles, a photoelectric fire control device is suspended on a cantilever on the three-degree-of-freedom servo rotary table, and a supporting plate of the three-degree-of-freedom servo rotary table is fixedly provided with an undercarriage through screws.

Preferably, the launching cabin includes including five launching tubes, five the tip cover is equipped with the front end card of looks adaptation with it before the launching tube, five the launching tube middle part cover is equipped with the well card of looks adaptation with it, five the rear end card of looks adaptation with it is equipped with to the launching tube afterbody cover, fixed mounting has two pull rods that the symmetry set up on the inboard surface of front end card, two fixed mounting is on the rear end card after the inboard end of pull rod passes well card, through screw fixed mounting flange on the outside plane of well card.

Preferably, the pull rod is a hollow thin-wall metal tube.

Preferably, all five of the launching tubes are carbon fiber launching tubes.

Preferably, the outer surfaces of the front end card, the middle card and the rear end card are fixedly provided with fixing hoops matched with the front end card, the middle card and the rear end card through screws, and the width of the fixing hoop on the middle card is larger than that of the fixing hoops on the front end card and the rear end card.

Preferably, miniature rocket projectile includes tail-hood, fin, rocket engine, warhead, fuze cabin, the fuze cabin passes through the screw and installs on warhead top along projectile body axial fixity, the rocket engine passes through the screw and installs in warhead bottom along projectile body axial fixity, fin fixed mounting is on rocket engine afterbody shell, rocket engine afterbody fixed mounting has the tail-hood, the fin is taken in the back through the tail-hood and is hugged closely and set up with rocket engine shell.

Preferably, the tail wing comprises a connecting shaft, a plurality of rolling arc wings and torsion springs, the four sections of rolling arc wings are uniformly arranged on the rocket engine shell in an X shape, the root of each rolling arc wing is provided with the connecting shaft, the rolling arc wings can be rotatably arranged on the connecting shaft, each section of rolling arc wing is fixed on a fixing ring of the rocket engine shell in a hole shaft connection mode, and each connecting shaft is provided with one torsion spring in a compression state.

Preferably, the photoelectric fire control device includes casing, PCB board, visible light module and laser rangefinder module, fixed mounting has the PCB board in the casing, fixed mounting has the module of seeing light and laser rangefinder module on the PCB board, the casing includes basic unit, dope layer, basic unit surface spraying has the dope layer, the basic unit is shielding layer, glass fiber board insulating layer, carbon fiber sheet layer, ceramic fiber board flame retardant coating from inside to outside in proper order, the dope layer is wearing layer, reflector layer from inside to outside in proper order.

Preferably, the shielding layer is an electromagnetic shielding film.

Preferably, the wear-resistant layer is an epoxy resin coating.

Preferably, the reflecting layer is an Al2O3 coating.

Preferably, the undercarriage includes two connecting rods, and two the mutual parallel arrangement of connecting rod, its characterized in that, every the both ends of connecting rod all are equipped with the shock attenuation and wrap up in the foot, per two correspond all the cover is equipped with two tee bend connectors on the shock attenuation wraps up in the connecting rod between the foot, and every tee bend connector all wraps up in the foot setting in the shock attenuation of corresponding, per two correspond all mutually support in the tee bend connector and inserted the knee-beam, all pass through the fix with screw after inserting the connector on the tee bend connector that corresponds for two ends of knee-beam.

Preferably, the connecting rods are all carbon fiber tubes.

Preferably, the damping foot wrapping sleeve is a soft rubber sleeve, and the damping foot wrapping sleeve is in interference fit with the connecting rod.

Preferably, the knee is aluminum alloy tube, the knee includes straight spool, circular arc pipe, equal fixed mounting has circular arc pipe on two extremes of straight spool, the centre department is opened along length axis direction on the straight spool has two screw holes.

The invention provides a micro weapon system for unmanned aerial vehicle with intelligent scouting and batting integrated function, which has the advantages that:

1. the overall structure of the three-degree-of-freedom servo weapon system is designed in a light weight, integrated and modularized manner, the overall weight of the weapon system is reduced to 2kg (no rocket bullets) through a large number of finite element optimization designs and industrial-level mature processes in the design process, meanwhile, the weapon system designed by the scheme is provided with 1 deep groove ball bearing assembly along the radial direction of the rolling shaft, and is provided with 2 thrust bearings along the axial direction, so that the weapon system not only can horizontally rotate 360 degrees along the rolling shaft, but also can bear large tensile force and pressure in the axial direction in the rotating process; in the pitching direction of the weapon system, the pitching shaft and the cantilever shaft are concentrically arranged, the concentricity of the two shafts is ensured through the assembly of the deep groove ball bearings, the two shafts can be caused to rotate mutually without mutual interference, the space is saved, the two motors respectively provide power for the two shafts, and the whole transmission structure is compact, small in size and high in bearing capacity.

2. The high-performance photoelectric fire control system based on the servo platform is researched based on industrial CMOS imaging and laser ranging technology, the moving target recognition rate in the moving background reaches more than 70%, the locking tracking speed reaches more than 15 frames/s, and the integration, the light weight and the low cost of the high-performance high-point detection module are realized.

3. The whole rocket projectile is in a modular design and can be quickly installed without tools. The rocket projectile has small size, light weight and small impact on a platform during launching, and is provided with various warheads such as armor piercing, explosion killing, knocking, lacrimation, fuming and the like.

Drawings

Fig. 1 is a schematic three-dimensional structural diagram of a micro-weapon system for unmanned aerial vehicle with an intelligent scouting and batting integrated function according to the present invention;

fig. 2 is a schematic front structural diagram of a micro-weapon system for unmanned aerial vehicle with an intelligent scouting and batting integrated function according to the present invention;

FIG. 3 is a schematic side view of a micro-weapon system for unmanned aerial vehicle with an intelligent scouting and batting integrated function according to the present invention;

fig. 4 is a schematic top view of a micro-weapon system for unmanned aerial vehicle with an intelligent scouting and batting integrated function according to the present invention;

fig. 5 is a schematic view of an installation structure of a pitching motor and a cantilever motor of a three-degree-of-freedom servo turntable according to the present invention;

fig. 6 is a schematic structural diagram of an upper portion of a three-degree-of-freedom servo turntable according to the present invention;

fig. 7 is a schematic view of an installation structure of a cantilever motor tooth and a cantilever gear plate of a three-degree-of-freedom servo turntable according to the present invention;

fig. 8 is a schematic view of an installation structure of a pitch shaft, a main cantilever, and a cantilever gear plate of a three-degree-of-freedom servo turntable according to the present invention;

fig. 9 is a schematic cross-sectional structure diagram of a three-degree-of-freedom servo turntable according to the present invention;

FIG. 10 is a schematic front view of a multi-connected micro rocket projectile launching capsule according to the present invention;

FIG. 11 is a schematic three-dimensional structure diagram of a multi-connected micro rocket projectile launching capsule according to the present invention;

FIG. 12 is a schematic side view of a multi-gang micro rocket projectile launching capsule according to the present invention;

FIG. 13 is a schematic diagram of an outline structure of a photoelectric fire control device according to the present invention;

fig. 14 is a schematic structural diagram of a visible light module of a photoelectric fire control device according to the present invention;

fig. 15 is a schematic structural view of a laser ranging module of a photoelectric fire control device according to the present invention;

FIG. 16 is a schematic diagram of an internal structure of an electro-optical fire control device according to the present invention;

fig. 17 is a schematic diagram of a basic structure of an electro-optical fire control device according to the present invention;

FIG. 18 is a schematic view of a coating layer structure of an electro-optical fire control device according to the present invention;

fig. 19 is a schematic side structure view of a landing frame for a fire percussion platform of a micro unmanned aerial vehicle according to the present invention;

fig. 20 is a schematic front structural view of a landing frame for a fire percussion platform of a micro unmanned aerial vehicle according to the present invention;

fig. 21 is a schematic top view of a landing frame for a fire striking platform of a micro unmanned aerial vehicle according to the present invention;

FIG. 22 is a schematic view of the overall structure of a miniature rocket projectile according to the present invention;

fig. 23 is a schematic view of an internal structure of a micro rocket projectile according to the present invention;

fig. 24 is a schematic view of a tail mounting structure of a micro rocket projectile according to the present invention.

In the figure: three-degree-of-freedom servo turntable 1A, a launching cabin 2A, a photoelectric fire control device 3A, an undercarriage 4A, a miniature rocket projectile 5A, a supporting plate 1, a side plate 2, a rolling gear disc 3, a second deep groove bearing 5, a pitching motor 6, a cross beam 7, a pitching shaft 8, a pin 9, a cantilever gear disc 10, a conductive sliding ring 11, an inner gear ring 14, a connecting seat 16, a rolling shaft 17, a silica gel pad 18, a lower thrust washer 19a, an upper thrust washer 19b, a machine body fixing seat 20, a rolling bearing 21, a rolling motor 26, a Z-shaped plate 27, a retainer ring 32, a connecting flange 34, a pull rod 50, a bearing 53, a main cantilever 61, a secondary cantilever 62, a cantilever motor 64, a waterproof ring 65, a coaming 66, a connecting rod 1101, a damping wrapping foot 1102, a three-way connector 1103, a bent rod 1104, a screw hole 1105, a linear pipe 1106, a bent pipe 1107, a pull rod 12, a flange 13, a front end, The device comprises a launching tube 71, a tail cover 81, a tail wing 82, a rocket motor 83, a warhead 84, a fuze cabin 85, a connecting shaft 86, a rolling arc wing 87, a torsion spring 88, a shell 36, a base layer 36a, a shielding layer 3601, a glass fiber board heat insulation layer 3602, a carbon fiber board layer 3603, a ceramic fiber board fireproof layer 3603, a paint layer 36b, a wear-resistant layer 3605, a reflecting layer 3606, a PCB 37, a visible light module 38 and a laser ranging module 39.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-24, a miniature weapon system for unmanned aerial vehicle with intelligent observing and shooting integrated function comprises a three-degree-of-freedom servo turntable 1A, a launching cabin 2A, a photoelectric fire control device 3A, an undercarriage 4A and a miniature rocket projectile 5A.

The three-degree-of-freedom servo turntable 1A comprises a rolling shaft 17, the rolling shaft 17 is a hollow shaft with two step surfaces, a first step surface at the lower part of the rolling shaft 17 is sequentially sleeved with a lower thrust washer 19a, a supporting plate 1, a bearing washer 22, a rolling bearing 21, a connecting seat 16 and an upper thrust washer 19b from bottom to top, a second step surface at the upper part of the rolling shaft 17 is sequentially sleeved with a machine body fixing seat 20, a connecting flange 34 and a silica gel pad 18 from bottom to top, the machine body fixing seat 20, the connecting flange 34 and the silica gel pad 18 are all tightly fixed on the rolling shaft 17 through fixing nuts, a pair of first deep groove bearings 15 are fixedly arranged between the connecting seat 16 and the machine body fixing seat 20, an inner gear ring 14 is fixedly arranged inside one side of the machine body fixing seat 20 close to the supporting plate 1, rolling teeth 31 are fixedly arranged inside the inner gear ring 14, the rolling teeth 31 are meshed with the inner, the rolling teeth 31 are fixedly connected to the output shaft of the rolling motor 26, the rolling motor 26 is fixedly installed on the lower surface of the supporting plate 1, the supporting plate 1 and the connecting seat 16 are fixedly connected through screws, and when the rolling motor 26 works, the supporting plate 1 and the connecting seat 16 can be driven to rotate around the rolling shaft 17. A conductive slip ring 11 is arranged right below the rolling shaft 17, three Z-shaped plates 27 are fixedly arranged on the outer surface of the conductive slip ring 17 along the circumferential direction, the conductive slip ring 17 is suspended on the supporting plate 1 through the 3Z-shaped plates 27, the head of the conductive slip ring 11 is sleeved in a cavity of the rolling shaft 17, a waterproof ring 65 is bonded on one surface of the supporting plate 1, which is close to the machine body fixing seat 20, and the waterproof ring 65 can cover the inner cavity of the machine body fixing seat 20 to prevent dust and water vapor from entering;

the lower surface of the supporting plate 1 is fixedly connected with two symmetrically arranged side plates 2 through screws, the two side plates 2 are fixedly supported through two cross beams 7 and four pull rods 50, the outer edges of the two side plates 2 are fixedly provided with a coaming 66 through rivets, the coaming 66, the supporting plate 1 and the side plates 2 jointly form a closed cabin, so that internal components are better protected, and the supporting plate is provided with a magnetic induction sensor and a rotary table sensor plate for feeding back position, speed and zero position information during rolling;

a bearing hole position is formed in the bottom of each side plate 2, a pitch gear plate 3 and a cantilever gear plate 10 which are symmetrically arranged are fixedly mounted in each bearing hole position through a second deep groove bearing 5, a pitch motor 6 is fixedly mounted on each cross beam 7, and a magnetic induction sensor is arranged on each side plate pointing to the axis of the pitch motor 6 and used for measuring the position and speed information of the pitch motor 6. The output shaft of the pitching motor 6 is fixedly provided with pitching motor teeth 61, the pitching gear plate 3 is meshed with the pitching motor teeth 61, the other beam 7 is fixedly provided with a cantilever motor 64, the mounting direction of the cantilever motor 64 is opposite to that of the pitching motor 6, and a magnetic induction sensor is also arranged on a side plate pointing to the shaft of the cantilever motor 64 and used for measuring the position and speed information of the cantilever motor. A cantilever motor tooth 75 is fixedly arranged on an output shaft of the cantilever motor 64, and the cantilever gear plate 10 is meshed with the cantilever motor tooth 75;

the pitch gear plate 3 and the cantilever gear plate 10 are provided with a rotary pitch shaft 8 in the central holes, the pitch shaft 8 is a hollow flat shaft, the head end and the tail end of the pitch shaft 8 are respectively provided with a pin 9 which is correspondingly arranged, the two pins respectively block the edges of the pitch gear plate 3 and the cantilever gear plate 10, a main cantilever 61 is sleeved in the central hole of the cantilever gear plate 10, a bearing 53 is arranged between the main cantilever 61 and the pitch shaft 8, and a retainer ring 32 is arranged on the front end face of the bearing 53 for radial limiting. Four keys 35 are fixedly arranged between the matching surfaces of the main cantilever 61 and the cantilever gear plate 10, so that the main cantilever and the cantilever gear plate cannot rotate relatively. The outer center hole of the pitch gear plate 3 is sleeved with a slave cantilever 62, and a bearing 53 is arranged between the slave cantilever 62 and the pitch shaft 8.

Two ends of a pitching shaft 8 on the three-freedom-degree servo rotary table 1A are respectively and fixedly provided with a launching cabin 2A through a flange 13, the two launching cabins 2A are symmetrically arranged, a plurality of miniature rocket projectiles 5A are filled in the launching cabins 2A, a photoelectric fire control device 3A is suspended on a cantilever 62 on the three-freedom-degree servo rotary table 1A, and an undercarriage 4A is fixedly arranged on a supporting plate 1 of the three-freedom-degree servo rotary table 1A through screws.

The launching capsule 2A comprises five launching tubes 71, the five launching tubes 71 are all carbon fiber launching tubes, and the carbon fiber launching tubes are light in weight, high in strength, low in cost and suitable for mass production. The front end parts of the five transmitting tubes 71 are sleeved with the front end cards 28 matched with the front end parts, the middle parts of the five transmitting tubes 71 are sleeved with the middle cards 29 matched with the middle parts, and the tail parts of the five transmitting tubes 71 are sleeved with the rear end cards 30 matched with the rear end cards, wherein the front end cards 28, the middle cards 29 and the rear end cards 30 are all made of carbon fiber-based composite materials, so that the cost is low, the weight is light, and the three parts are consistent in thickness and appearance, can be manufactured by adopting the same set of die and are low in cost;

two symmetrically arranged pull rods 12 are fixedly arranged on the inner side surface of the front end clamp 28, the pull rods 12 are hollow thin-wall metal tubes and are mainly used for routing of an emission cabin-87, and routing tubes are designed in gaps between emission cylinders, so that the installation and maintenance of the invention are more convenient;

the tail ends of the inner sides of the two pull rods 12 penetrate through the middle clamp 29 and then are fixedly arranged on the rear end clamp 30, the flange 13 is fixedly arranged on the outer plane of the middle clamp 29 through screws, the flange 13 is a T-shaped sleeve and used for connecting the launching cabin to the launching platform, and when the launching cabin faces different launching platforms, different flanges can be replaced for connection, so that the universality of the launching cabin is improved;

the outer surfaces of the front end card 28, the middle card 29 and the rear end card 30 are fixedly provided with fixing hoops 70 matched with the front end card 28, the middle card 29 and the rear end card 30 through screws, the width of the fixing hoop 70 on the middle card 29 is larger than that of the fixing hoop 70 on the front end card 28 and the rear end card 30, the fixing hoop 70 is used for improving the structural strength of the whole launching cabin, and the width of the fixing hoop 70 on the middle card 29 is larger, so that the strength of the flange 13 can be improved.

The micro rocket projectile 5A comprises a tail cover 81, a tail wing 82, a rocket engine 83, a warhead 84 and a fuze cabin 85, and all components are in modular design, so that all the components can be replaced according to use requirements to realize different striking effects; when a certain component is failed, the components of other rocket projectiles can be directly replaced, and meanwhile, in the subsequent improvement and upgrade process, the independent components can be upgraded, so that the improvement is more flexible, and various models which are suitable for different combat requirements can be derived. The warhead 84 can be a plurality of types of warheads such as armor piercing, explosion killing, knocking, lacrimation, fuming and the like, so that different fighting requirements can be met;

fuze cabin 85 is through the screw along projectile body axial fixity installation on warhead 84 top, rocket engine 83 passes through the screw along projectile body axial fixity installation in warhead 83 bottom, fin 82 fixed mounting is on rocket engine 83 afterbody shell, through the fix with screw for the dismantlement of whole rocket is all convenient more quick with the installation, when the combat demand that faces the difference, the warhead of the different models of change that can be quick more, thereby has improved combat efficiency greatly. The tail wing 82 comprises a connecting shaft 86, rolling arc wings 87 and torsion springs 88, wherein four sections of the rolling arc wings 87 are uniformly arranged on the shell of the rocket engine 83 in an X shape, the root of each rolling arc wing 87 is provided with the connecting shaft 86, the rolling arc wings 87 can be rotatably arranged on the connecting shaft 86, each section of the rolling arc wings 87 is fixed on a fixing ring of the shell of the rocket engine 83 in a hole shaft connection mode, each connecting shaft 86 is provided with one torsion spring 83 in a compression state, and the torsion springs 83 are special torsion springs and can provide torque rotating and moving along the axis. A tail cover 81 is fixedly arranged at the tail part of the rocket engine 83, and the tail wing 82 is closely attached to the shell of the rocket engine 83 after being accommodated by the tail cover 81;

before the rocket projectile is launched, all the winding wings 87 are tightly attached to the shell of the rocket motor 83, the torsion spring 83 is compressed, and the winding wings 87 are accommodated outside by the tail cover 81 to prevent the winding wings from being unfolded. After the rocket projectile is launched, the rocket engine 83 sprays airflow to push the tail cover 81 open, the rolling arc wings 87 are released, the rolling arc wings 87 are unfolded to reach the maximum wingspan position under the action of the torsion spring 88, and at the moment, the torsion spring 88 pushes the rolling arc wings into the clamping grooves for fixing.

The photoelectric fire control device 3A comprises a shell 36, a PCB 37, a visible light module 38 and a laser ranging module 39, and is characterized in that a screw hole for connecting a weapon system is reserved on the shell 36. Still leave the data connecting hole on the body, can adapt to different platforms, the universalization is good, installs unmanned firepower platform with this weapon system after, is connected data connecting hole and unmanned aerial vehicle platform controlling means. A PCB (printed circuit board) 37 is fixedly installed in the shell 36, a visible light module 38 and a laser ranging module 39 are fixedly installed on the PCB 37, the visible light module-38 is a visible light sensor, the laser ranging module-39 is a laser detector, the PCB 37 is a central control board of the system, and has the functions of image transmission, data transmission, trajectory calculation and the like, when in use, the photoelectric fire control device 3A is suspended on a cantilever of the three-degree-of-freedom servo turntable 1A, and the cantilever can rotate around the center of a rolling shaft;

the shell 36 comprises a base layer 36a and a coating layer 36b, the coating layer 36b is sprayed on the outer surface of the base layer 36a, the base layer 36a is sequentially provided with a shielding layer 3601, a glass fiber board heat insulation layer 3602, a carbon fiber board layer 3603 and a ceramic fiber board fireproof layer 3604 from inside to outside, and the shielding layer 3601 is an electromagnetic shielding film which can effectively isolate external electromagnetic interference so as to guarantee the normal work of the photoelectric fire control device. Because unmanned aerial vehicle firepower strikes platform when launching ammunition such as rocket projectile, the rocket projectile afterbody can spout high temperature tail flame, and photoelectric fire control device is very close to the launch cabin, consequently needs photoelectric fire control device to have certain thermal-insulated fire-retardant ability. The glass fiber board heat insulation layer 3602 has excellent heat insulation capability and can isolate the influence of external high temperature on the internal components of the photoelectric fire control device. The carbon fiber plate layer 3603 is high in strength and light in weight, and the overall impact resistance of the photoelectric fire control device is greatly improved. The ceramic fiberboard fireproof layer 3604 can prevent the tail flame of ammunition from burning the photoelectric fire control device of the unmanned aerial vehicle when the unmanned aerial vehicle launches ammunition;

the coating layer 36b is sequentially provided with a wear-resistant layer 3605 and a reflecting layer 3606 from inside to outside, the wear-resistant layer 3605 is an epoxy resin coating, and the epoxy resin coating has excellent wear resistance. The reflecting layer 3606 is an Al2O3 coating, the reflecting layer of the invention is a plasma spraying method, and the reflectivity of the plasma spraying Al2O3 coating to CO2 continuous laser is 23. 0% of soil. 80%, can shine when unmanned aerial vehicle in the anti-unmanned aerial vehicle laser weapon on ground, reflect partly laser to reduce the harm of laser weapon to unmanned aerial vehicle photoelectric fire control device.

The undercarriage 4A comprises two connecting rods 1101, the connecting rods 1101 are carbon fiber tubes, the carbon fiber tubes are light in weight and high in strength, the overall weight of the undercarriage is greatly reduced, and the overall strength of the undercarriage is improved. The two connecting rods 1101 are arranged in parallel, the damping wrapping feet 1102 are sleeved at the two ends of each connecting rod 1101, the damping wrapping feet 1102 are soft rubber sleeves, the damping wrapping feet 1102 are in interference fit with the connecting rods 1101, and the rubber damping wrapping feet can buffer the unmanned aerial vehicle in the process that the landing gear is in contact with the ground in the process of taking off and landing of the unmanned aerial vehicle, so that the influence of ground impact force on precise electronic equipment in a fire striking platform of the unmanned aerial vehicle is fully reduced;

all the cover is equipped with two three way connection ware 1103 on the connecting rod 1101 between the foot 1102 is wrapped in to per two shock attenuation that correspond, and the foot 1102 setting is wrapped in to the shock attenuation that every three way connection ware 1103 all closely corresponds, all mutually support in per two three way connection ware 1103 that correspond and inserted knee 1104, all pass through the fix with screw after two terminal connector inserts the connector on the three way connection ware 1103 of correspondence of knee 1104, utilize three way connection ware 1103 with knee 1104 and connecting rod 1101 fixed connection, make the installation of undercarriage dismantle very simple, in the transportation, can take off the back with the undercarriage of unmanned aerial vehicle firepower striking platform and dismantle into solitary part, thereby the portability of unmanned aerial vehicle firepower striking platform has been improved greatly. The bent rod 1104 is an aluminum alloy pipe, the bent rod 1104 comprises a linear pipe 1106 and an arc pipe 1107, the arc pipe 1107 is fixedly mounted at two tail ends of the linear pipe 1106, two screw holes 1105 are formed in the center of the linear pipe 1106 along the length axis direction and are used for being connected with a supporting plate 1 of the three-degree-of-freedom servo turntable 1A, and in the process that the unmanned aerial vehicle fire striking platform needs to rotate along with the target, the undercarriage can rotate around the rolling table shaft 17 along with the three-degree-of-freedom servo turntable 1A, so that the trajectory of the fire striking system cannot be shielded.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.