阅读说明：本技术 一种可搭载于水面无人艇的云台发射系统 (pan-tilt launching system capable of being carried on unmanned surface vehicle ) 是由 张磊 周彬 许建辉 李一帆 于 2019-06-25 设计创作，主要内容包括：本发明属于自动化技术领域,具体涉及具有射击预定目标功能的一种可搭载于水面无人艇的云台发射系统。本发明包括瞄准机构,填弹机构、发射机构和控制器。瞄准机构包括底座1,底座1上有安装孔2,填弹机构包括储弹仓8,储弹仓8固定有第二Yaw轴电机9,第二Yaw轴舵机9输出轴连接转动隔板10,储弹仓8上连接储弹仓盖11。本发明具有抗平台抖动能力,传统发射机安置在稳定的平台上,该产品安装在浮动的无人艇平台上,可以在浮动不稳定的平台上实现稳定的发射功能。还具有兼容计算机指令控制的发射功能,现有发射机为物体连续发射,无法对发射任务进行控制,该发射机可对发射任务进行控制。(The invention belongs to the technical field of automation, and particularly relates to a holder launching system which has a function of shooting a preset target and can be carried on an unmanned surface vehicle. The invention comprises an aiming mechanism, a bullet filling mechanism, a launching mechanism and a controller. Aiming mechanism includes base 1, has mounting hole 2 on the base 1, and the mechanism of filling out the bullet includes storage magazine 8, and storage magazine 8 is fixed with second Yaw axle motor 9, and 9 output shaft of second Yaw axle steering wheel rotate the baffle 10, connect storage magazine lid 11 on the storage magazine 8. The invention has the capability of resisting platform shake, the traditional transmitter is arranged on a stable platform, and the product is arranged on a floating unmanned boat platform and can realize the stable transmitting function on the floating unstable platform. The transmitter also has a transmitting function compatible with computer instruction control, the existing transmitter continuously transmits objects and cannot control transmitting tasks, and the transmitter can control the transmitting tasks.)

1. A tripod head launching system capable of being carried on an unmanned surface vehicle comprises a sighting mechanism, a bullet filling mechanism, a launching mechanism and a controller; the aiming mechanism comprises a base (1), a mounting hole (2) is formed in the base (1), a first Yaw axis steering engine (3) is fixedly connected to the middle of the base, an output shaft of the first Yaw axis steering engine (3) is connected with a rotating tray (4), a first support (5) and a second support (6) are fixed on the tray (4), and the second support (6) is fixedly connected with a Pitch axis motor (7); the bullet filling mechanism comprises a bullet storage bin (8), a second Yaw axis motor (9) is fixed on the bullet storage bin (8), an output shaft of the second Yaw axis steering engine (9) is connected with a rotating partition plate (10), and a bullet storage bin cover (11) is connected to the bullet storage bin (8); the launching mechanism comprises a launching machine body (12), a supporting shaft (13) is fixed on one side of the launching machine body (12), the supporting shaft (13) is connected to the support (5), the other side of the launching machine body (12) is connected to an output shaft of a Pitch shaft steering engine (7), a rotating wheel (14) and a rotating wheel (15) are arranged on the launching machine body (12), a conveying belt (16) is fixed on the launching machine body (12), and the launching machine body (12) is connected with the bullet storage bin (8) through a spring pipe (17); all the actuators are connected with a control box (18) through signal wires.

2. the pan-tilt launching system capable of being carried on an unmanned surface vehicle as claimed in claim 1, wherein: the launcher body (12) is connected with the second support (6) through a Pitch shaft steering engine (7).

3. The pan-tilt launching system capable of being carried on an unmanned surface vehicle as claimed in claim 2, wherein: the rotating wheel (14) and the rotating wheel (15) are driven by an aeromodelling motor.

4. The pan-tilt launching system capable of being carried on an unmanned surface vehicle as claimed in claim 3, wherein: the rotary clapboard (10) is composed of five blades and equal-angle split clapboards.

5. The pan-tilt launching system capable of being carried on an unmanned surface vehicle as claimed in claim 5, wherein: the support member is a circular bearing turntable base.

Technical Field

The invention belongs to the technical field of automation, and particularly relates to a holder launching system which has a function of shooting a preset target and can be carried on an unmanned surface vehicle.

Background

The unmanned boat cradle head transmitter is a transmitting system which can receive a transmitting instruction transmitted by an unmanned boat lower computer and complete a real-time tracking aiming and striking task of a target according to the instruction. With the development of automation technology and the trend of future war, unmanned surface vehicles play more and more important roles in scientific research, national defense and military, wherein the target identification tracking and striking technology is an important development direction in unmanned vehicle mission operation, but at present, fewer systems which can be connected with unmanned vehicle lower computers and carry out target real-time tracking, aiming and launching according to lower computer instructions are provided, and the defects of poor compatibility, long reaction time, low precision and unstable tracking exist.

Disclosure of Invention

The invention aims to provide a tripod head launching system capable of being carried on an unmanned surface vehicle.

The purpose of the invention is realized as follows:

A holder launching system capable of being carried on an unmanned surface vehicle comprises a sighting mechanism, a bullet filling mechanism, a launching mechanism and a controller. Aiming mechanism includes base 1, has mounting hole 2 on the base 1, and the fixed first Yaw axle steering wheel 3 of base intermediate connection, the output shaft of first Yaw axle steering wheel 3 rotates tray 4, fixed first support 5 and second support 6 on the tray 4, second support 6 fixed connection Pitch axle motor 7. The bullet filling mechanism comprises a bullet storage bin 8, a second Yaw axis motor 9 is fixed on the bullet storage bin 8, an output shaft of a second Yaw axis steering engine 9 is connected with a rotating partition plate 10, and a bullet storage bin cover 11 is connected to the bullet storage bin 8; the launching mechanism comprises a launching machine body 12, a supporting shaft 13 is fixed on one side of the launching machine body 12, the supporting shaft 13 is connected to the support 5, the other side of the launching machine body 12 is connected to an output shaft of the Pitch shaft steering engine 7, a rotating wheel 14 and a rotating wheel 15 are arranged on the launching machine body 12, a conveying belt 16 is fixed on the launching machine body 12, and the launching machine body 12 is connected with the bullet storage bin 8 through a spring pipe 17. All actuators are connected to the control box 18 via signal lines.

The launcher body 12 is connected with the second support 6 through a Pitch shaft steering engine 7.

The wheels 14 and 15 are driven by the model airplane motor.

the rotary clapboard 10 is composed of five blades and equal-angle split clapboards.

The support member is a circular bearing turntable base.

the invention has the beneficial effects that:

1. The anti-platform-jitter capability, the traditional transmitter is arranged on a stable platform, and the product is arranged on a floating unmanned boat platform, so that the stable transmitting function can be realized on the floating unstable platform.

2. The transmitter is compatible with the transmitting function controlled by a computer instruction, the existing transmitter continuously transmits objects and cannot control transmitting tasks, and the transmitter can control the transmitting tasks.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the steering mechanism and the launching mechanism of the present invention.

Fig. 3 is a schematic structural view of the ball feeding mechanism of the present invention.

Detailed Description

The invention will be further described with reference to the accompanying drawings,

As shown in fig. 1 to 3, the pan/tilt/zoom apparatus of the present invention includes a steering mechanism, a ball feeding mechanism, a launching mechanism, and a control box. Steering mechanism includes base 1, has mounting hole 2 on the base 1, and fixed first Yaw axle steering wheel 3 is connected to the base, and first Yaw axle steering wheel 3 output shaft rotates and connects tray 4, and fixed first support 5 and second support 6 on tray 4, second support 6 fixed connection Pitch axle steering wheel 7. The ball feeding mechanism comprises a bullet storage bin 8, a second Yaw axis steering engine 9 is fixed on the bullet storage bin 8, an output shaft of the second Yaw axis steering engine 9 is connected with a rotating partition plate 10, and a round cover 11 is connected to the bullet storage bin 8. The launching mechanism comprises a launching machine body 12, a supporting shaft 13 is fixed on one side of the launching machine body 12, the supporting shaft 13 is connected to the support 5, the other side of the launching machine body 12 is connected to an output shaft of the Pitch shaft steering engine 7, a rotating wheel 14 and a rotating wheel 15 are arranged on the launching machine body 12, a conveying belt 16 is fixed on the launching machine body, and the launching machine body 12 is connected with the bullet storage bin 8 through a spring pipe 17. The motors are connected to the control box 18. The launcher body 12 is connected to the second support 6 by a Pitch axis motor 7. Both the wheels 14 and 15 are driven using model motors. The rotary clapboard 10 is composed of five blades and equal-angle split clapboards. The first Yaw axis motor 3, the Pitch axis steering engine 7 and the second Yaw axis steering engine 9 input signals which are electric pulse signals and output signals which are angular displacement actions.

The adjustment and the transmission of the cradle head transmitter comprise the following steps:

the controller receives the command of the lower computer of the unmanned ship platform through the serial port and analyzes the command.

The controller processes the analyzed command, generates a control signal and inputs the control signal into each mechanism actuator to drive each mechanism to execute corresponding actions, and the actions are as follows:

The horizontal and vertical steering engine of the aiming mechanism is driven to rotate to corresponding angles for aiming

And driving a steering engine of the ball filling mechanism to fill balls.

And driving a conveyer belt of the ball filling mechanism to operate to convey the balls to the launching position.

The launching mechanism is driven to launch the ball.

After the transmission is finished, the controller controls the transmission system to return to the initial standby state, and the controller returns an instruction of successful transmission to the lower computer of the unmanned platform.

The first Yaw axis steering engine, the Pitch axis steering engine and the second Yaw axis steering engine input signals are electric pulse (PPM) signals and output signals are angular displacement actions.

The invention provides a tripod head launching system capable of being carried on an unmanned surface vehicle, which can be connected with a lower computer of the unmanned surface vehicle through a controller taking a microcontroller as a core and control a launching mechanism to execute launching by receiving an instruction of the lower computer of the unmanned surface vehicle, and has the advantages of strong compatibility, sensitive response, reliable launching, stable tracking and strong durability. The system is mainly applied to shooting exercise performance of unmanned platforms on water surfaces such as unmanned boats on water surfaces and the like, and assists related matched software and hardware, such as research on unmanned boat vision and radar aiming tracking systems.

The invention relates to a pan-tilt launching system capable of being carried on an unmanned surface vehicle. The aiming mechanism comprises a base, a mounting hole is formed in the base and used for being fixed on the boat body, a first Yaw axis steering engine is connected and fixed in the middle of the base, an output shaft of the first Yaw axis steering engine is connected with a rotating tray, a first support and a second support are fixed on the rotating tray, and the second support is fixedly connected with a Pitch axis motor. The bullet filling mechanism comprises a bullet storage bin, a second Yaw axis steering engine is fixed on the bullet storage bin, an output shaft of a second Yaw axis motor is connected with a rotating partition plate, and a round cover is connected to the bullet storage bin. The launching mechanism comprises a launcher body, a supporting shaft is fixed on one side of the launcher body and connected to the support, the other side of the launcher body is connected to an output shaft of a first Pitch shaft steering engine, a rotating wheel and a conveying belt are fixed on the launcher body, and the launcher body is connected with the bullet storage bin through a telescopic pipe. The controller mainly comprises a microprocessor, receives and transmits instructions to the lower computer of the unmanned platform through a signal wire, processes the instructions, converts the analyzed instructions into control signals of the action executing mechanisms of all parts, and controls the executing mechanisms to execute corresponding actions.

The launcher body is connected with the second support through a Pitch shaft steering engine.

The rotating wheels are driven by an electric speed controller control motor.

The rotary partition plate is composed of five blade equal-angle split partition plates.

The specific working principle of the invention is as follows: the controller receives the emission instruction from the unmanned platform lower computer and analyzes the emission instruction, and then outputs a control signal to control the first Yaw axis steering engine and the Pitch axis steering engine of the steering mechanism to rotate, and drives the aiming mechanism to aim at the target. The controller controls a second Yaw axis steering engine of the ball filling mechanism to rotate so as to send the ball into the launching mechanism. The launching mechanism is used for driving the ball to reach the rotating wheel, and the motor drives the rotating wheel to rotate, so that the ball is accelerated and is ejected. After the transmission is finished, the controller controls the transmission system to return to the initial standby state, and the controller returns an instruction of successful transmission to the lower computer of the unmanned platform.

The invention has the advantages that: the anti-platform-shaking device has the capability of resisting platform shaking, the traditional transmitter is arranged on a stable platform, and the product is arranged on a floating unmanned boat platform and can realize a stable transmitting function on a floating unstable platform. The transmitter is compatible with the transmitting function controlled by a computer instruction, the existing transmitter continuously transmits objects and cannot control transmitting tasks, and the transmitter can control the transmitting tasks.

in summary, the present invention discloses a launching cradle head capable of being carried on an unmanned submarine and having a function of shooting a predetermined target, comprising a sighting mechanism, a bullet filling mechanism, a launching mechanism and a controller. The unmanned ship control center sends target information and a transmitting instruction to the controller through the serial port, and controls a Yaw axis steering engine and a Pitch axis steering engine of the aiming mechanism to rotate to adjust the angle of the transmitting tube to realize aiming; the ball is fed to the launching mechanism by controlling the loading mechanism and is launched. The invention has the advantages of communication, quick response, high precision and good stability, and has important application value in shooting drilling of unmanned surface vehicles and system linkage control research.

The technical features of the present invention are described in detail below: comprises an aiming mechanism, a bullet filling mechanism, a launching mechanism and a controller. Aiming mechanism includes base 1, has mounting hole 2 on the base 1 for be fixed in the hull, the fixed first Yaw axle steering wheel 3 of base intermediate connection, the first Yaw axle steering wheel 3 output shaft rotates tray 4, fixed first support 5 and second support 6 on the tray 4, second support 6 fixed connection Pitch axle motor 7. The bullet filling mechanism comprises a bullet storage bin 8, a second Yaw axis motor 9 is fixed on the bullet storage bin 8, an output shaft of a second Yaw axis steering engine 9 is connected with a rotating partition plate 10, and a bullet storage bin cover 11 is connected to the bullet storage bin 8. The launching mechanism comprises a launching machine body 12, a supporting shaft 13 is fixed on one side of the launching machine body 12, the supporting shaft 13 is connected to the support 5, the other side of the launching machine body 12 is connected to an output shaft of the Pitch shaft steering engine 7, a rotating wheel 14 and a rotating wheel 15 are arranged on the launching machine body 12, a conveying belt 16 is fixed on the launching machine body 12, and the launching machine body 12 is connected with the bullet storage bin 8 through a spring pipe 17. All actuators are connected to the control box 18 via signal lines.

The launcher body 12 is connected with the second support 6 through a Pitch shaft steering engine 7.

The wheels 14 and 15 are driven by the model airplane motor.

The rotary clapboard 10 is composed of five blades and equal-angle split clapboards.

The controller 18 receives the transmitting instruction through the serial port and drives each mechanism to execute the transmitting action.

The support member (not numbered) is a circular bearing turntable base.

The invention comprises the following steps:

1) The controller processes the received target position information and the ship body position information.

2) The controller controls the filling mechanism to fill the ammunition, including the filling and delivery of the ammunition.

3) The controller controls a Yaw axis steering engine and a Pitch axis steering engine in the aiming mechanism to execute aiming movement.

4) The electric speed regulator controls the motor to drive the rotating wheel to rotate, and the ball is ejected out through the centrifugal force of the rotating wheel.