CN109029107A

CN109029107A - It is a kind of airborne with dynamic stability flat pad

Info

Publication number: CN109029107A
Application number: CN201811108561.8A
Authority: CN
Inventors: 刘晓东; 马伍元; 葛航宇; 马青; 徐晨阳
Original assignee: Changchun Institute of Optics Fine Mechanics and Physics of CAS
Current assignee: Changchun Institute of Optics Fine Mechanics and Physics of CAS
Priority date: 2018-09-21
Filing date: 2018-09-21
Publication date: 2018-12-18
Anticipated expiration: 2038-09-21
Also published as: CN109029107B

Abstract

An airborne follow-up stable launching platform provided by the present invention can carry a large load and aim at a target, and is especially suitable for launching an airborne weapon. The locking of the azimuth frame and the pitch frame can be completed at the moment of weapon launch, improving the The firing accuracy of the weapon.

Description

It is a kind of airborne with dynamic stability flat pad

Technical field

The present invention relates to air weapon fields, in particular to a kind of airborne with dynamic stability flat pad.

Background technique

Stablizing flat pad can isolate the disturbance of carrier, position and posture information real-time measurement to itself, realization pair The real-time tracking of target and aiming are more and more widely used in modern weapons flat pad.With the performance of carrier aircraft With the continuous improvement of operational need, the requirement to the bearing capacity of stabilized platform load is also higher and higher, and heavy load is stable flat The product of platform is seldom, and can be used for the servo-actuated stabilized platform that air weapon emits, there are no the reports of research achievement.

And for non-guided weapon, the alignment precision before transmitting is the guarantee of accuracy at target, and platform is locked in transmitting, And sustain arm discharge impact force and recoil be also guarantee accuracy at target prerequisite.So one kind can isolate machine Body vibration, high-precision control, the development for the stabilized platform for bearing big load and shock loading have weight for the development of air weapon The meaning wanted.The invention patent as the starting point, have developed it is a kind of can be used for arm discharge it is airborne emit with dynamic stability it is flat Platform.

During big load stabilized platform is developed, it is negative greatly that 103149948 A of Chinese patent application CN discloses a kind of two-freedom Tracking Stable Platform System is carried, which includes pedestal, linearly coupled damper, orientation frame, pitching frame, mission payload, power Torque motor, photoelectric encoder, control loop composition.Tracking and detection to target may be implemented in the stabilized platform, carries load Greatly, but the platform can not solve the problems, such as that arm discharge moment impact disturbs, and the platform does not have angle-measuring equipment, control essence It spends low.

Summary of the invention

The embodiment of the invention provides a kind of airborne with dynamic stability flat pad, by locking assembly to pitching side when transmitting It is locked to azimuth direction, the position that itself may be implemented is locked, eliminates platform disturbance, improves fire accuracy.

The present invention provide it is a kind of airborne with dynamic stability flat pad, including structural system and power drive system, it is described Structural system includes support base, vibration damper, orientation frame, pitching frame and pinboard, and the pinboard passes through institute It states vibration damper to be connected in the support base, the power drive system includes that orientation power transmission unit and pitching are dynamic Power gear unit, the orientation frame are installed in rotation in the support base by the orientation power transmission unit, The pitching frame is installed in rotation on the orientation frame by the pitching power transmission unit, the orientation frame and It is equipped with the first locking assembly between the support base, the second locking group is equipped between the orientation frame and the pitching frame Part, before transmission or after transmitting, first locking assembly and second locking assembly unlock, in transmitting, described first Locking assembly and second locking assembly locking are so that the support base, the orientation frame and the pitching frame It is kept between three opposing stationary.

Optionally, first locking assembly includes that the first electromagnet being arranged in the support base and setting exist The first stressed plate on the orientation frame, first electromagnet fit when being powered with first stressed plate；

Second locking assembly includes that the second electromagnet being arranged on the orientation frame and setting are bowed described The second stressed plate on frame is faced upward, second electromagnet fits when being powered with second stressed plate.

Optionally, the orientation power drive system includes being used to provide the described the orientation power output of direction frame power Component and the Azimuth measurement component that angle is rotated for measuring the orientation frame, the orientation power output component are connected to institute It states on pinboard, the Azimuth measurement component is connected in the support base.

Optionally, the orientation power output component include orientation torque motor, azimuth-drive motor bracket, orientation retarder, Orientation reducer stent, Coupling Shaft, the first angular contact bearing and orientation output shaft, the orientation reducer stent are connected to described On pinboard, the orientation retarder is mounted on the orientation reducer stent, and the azimuth-drive motor bracket is connected to described On orientation retarder, the orientation torque motor is mounted on the azimuth-drive motor bracket, the orientation torque motor and described It is fixed between orientation retarder using connecting key, the connecting shaft is connected respectively to orientation by first angular contact bearing and subtracts On one end of fast device and the orientation output shaft, the other end of the orientation output shaft is fixedly connected with the orientation frame.

Optionally, the Azimuth measurement component includes Azimuth measurement axis, orientation fixing seat, the second angular contact bearing, orientation Bearing (ball) cover, bearing potentiometer and bearing potentiometer pressing plate, the orientation fixing seat is connected in the support base, described Azimuth measurement axis supports both ends to be connected to the orientation frame and the orientation current potential by second angular contact bearing In the shaft of meter, the bearing end cap is connected in the orientation fixing seat, and the bearing potentiometer passes through the orientation Potentiometer pressing plate is fixed on the bearing end cap.

Optionally, the pitching power transmission unit includes passing for providing the pitching power of power for the pitching frame The pitching angle measurement component of dynamic component and the rotation angle for measuring the pitching frame, the pitching power driving module include Pitching moment motor, pitching retarder, pitching reducer stent, pitching Coupling Shaft, coupling assembly, is bowed at pitching motor bracket Output shaft and the first pitch bearing are faced upward, the pitching reducer stent is connected on the orientation frame, the pitching retarder It is mounted on the pitching reducer stent, the pitching motor bracket is connected on the pitching retarder, the pitching power Torque motor is connected on the pitching motor bracket, and the axis hole of the shaft of the pitching moment motor and the pitching retarder connects It connects, the both ends of the pitching Coupling Shaft are connected on the pitching retarder and the coupling assembly, and the pitching is defeated Shaft is connected on the coupling assembly and the pitching frame under the support of first pitch bearing.

Optionally, the pitching angle measurement component includes pitching potentiometer pressing plate, pitching potentiometer, pitch bearing end cap, Two pitch bearings, pitching angle measurement axis, the pitch bearing are mounted on the orientation frame, and the pitching angle measurement axis is described It is connected under the support of two pitch bearings on the pitching frame and the potentiometric shaft of the pitching, the pitch bearing End cap is connected on the orientation frame, and the pitching potentiometer is fixed on the pitch axis by the pitching potentiometer pressing plate Socket end covers.

It optionally, further include shoe for carrying weapon, the shoe is mounted on the pitching frame.

It optionally, further include photoelectric detecting system, for being detected, being locked and being tracked to target object.

Optionally, it is described it is airborne with dynamic stability flat pad be more gyroplanes, helicopter or fixed wing aircraft.

As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that

One kind provided by the invention is airborne with dynamic stability flat pad, and the carrying of big load may be implemented and take aim to target Standard emits particularly suitable for air weapon, can complete the locked of orientation frame and pitching frame in arm discharge moment.Wherein Orientation frame provides power by orientation power drive system, and by the angle of rotation of Azimuth measurement systematic survey orientation frame Degree measures angular speed by the encoder of motor end.Pitching frame provides power by pitching power drive system, by bowing Angle measurement component measurement pitching frame movement angle is faced upward, adds encoder to measure pitching frame angular speed in pitching moment motor end. In addition, the pitching frame in this programme, both ends are by bearing support on orientation frame.The power train process of pitching frame is Pitching moment motor drives the rotation of pitching Coupling Shaft after slowing down by retarder, pitching Coupling Shaft drives pitching defeated by shaft coupling Shaft rotation, pitching output shaft drive pitching frame rotation, and load is connected on pitching frame, can turn with pitching frame Dynamic, pitching frame drives the rotation of pitching angle measurement axis, and pitching angle measurement axis drives the rotation of pitching current potential meter shaft, realizes the measurement of angle. Locking assembly includes electromagnet and stressed plate two parts composition in this programme, is connected to orientation for the first locking assembly electromagnet On frame, stressed plate is connected on pitching frame.Stress plate surface passes through specially treated, stressed plate and electricity before electromagnet is powered Frictional force very little between magnet has larger the suction-combining force when being powered between electromagnet and stressed plate, realize T-time orientation The locking of frame and pitching frame improves the fire accuracy of weapon.

Detailed description of the invention

Fig. 1 is a kind of structure chart of airborne embodiment with dynamic stability flat pad provided by the invention；

Fig. 2 is orientation power driving module in airborne a kind of embodiment with dynamic stability flat pad provided by the invention Cross-sectional view；

Fig. 3 is Azimuth measurement component section view in airborne a kind of embodiment with dynamic stability flat pad provided by the invention Figure；

Fig. 4 is that pitching power driving module cuts open in airborne a kind of embodiment with dynamic stability flat pad provided by the invention View；

Fig. 5 is pitching angle measurement component section view in airborne a kind of embodiment with dynamic stability flat pad provided by the invention Figure；

Fig. 6 is the section view of the first locking assembly in airborne a kind of embodiment with dynamic stability flat pad provided by the invention Figure；

Fig. 7 is the section view of the second locking assembly in airborne a kind of embodiment with dynamic stability flat pad provided by the invention Figure.

In figure: 1, orientation power driving module, 2, support base, 3, laser range finder, the 4, first locking assembly, 401, One electromagnet, the 402, first stressed plate, the 5, second locking assembly, the 501, second electromagnet, the 502, second stressed plate, 6, pitching it is dynamic Power output precision, 7, orientation frame, 8, pitching frame, 9, Azimuth measurement component, 11, pitching angle measurement component, 12, pinboard, 13, Bumper assembly, 14, visible-light detector, 15, infrared detector, 101, orientation torque motor, 102, azimuth-drive motor bracket, 103, orientation retarder, 104, orientation reducer stent, 105, Coupling Shaft, the 106, first angular contact bearing, 107, orientation output Axis, 901, Azimuth measurement axis, 902, orientation fixing seat, the 903, second angular contact bearing, 904, bearing end cap, 905, orientation Potentiometer, 906, bearing potentiometer pressing plate, 601, pitching moment motor, 602, pitching motor bracket, 603, pitching retarder, 604, pitching reducer stent, 605, pitching Coupling Shaft, 606, coupling assembly, 607, pitching output shaft, the 608, first pitching Bearing, 1101, potentiometer pressing plate, 1102, pitching potentiometer, 1103, pitch bearing end cap, the 1104, second pitch bearing, 1105, pitching angle measurement axis.

Specific embodiment

In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work It encloses.

Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing Four " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way Data be interchangeable under appropriate circumstances, so that the embodiments described herein can be in addition to illustrating herein or describing Sequence other than appearance is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that covering is non-exclusive Include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to clearly arrange Those of out step or unit, but may include be not clearly listed or it is solid for these process, methods, product or equipment The other step or units having.

As shown in connection with fig. 1, the present invention provides a kind of airborne with dynamic stability flat pad, including structural system and power Transmission system, structural system include four linearly coupled dampers 13, orientation frame 7, pitching frame 8, pinboard 12 and branch support group Seat 2 forms, and wherein support base 2 is connected by screw on aircraft body, and pinboard 12 is connected by vibration damper 13 In support base 2, power drive system includes orientation power transmission unit and pitching power transmission unit, and orientation frame 7 is logical It crosses the orientation power transmission unit to be installed in rotation in the support base 2, pitching frame 8 passes through the pitching power Gear unit is installed in rotation on the orientation frame 7, and the first locking assembly is equipped between orientation frame 7 and support base 2, Between orientation frame 7 and the pitching frame 8 be equipped with the second locking assembly, before transmission or transmitting after, the first locking assembly and The second locking assembly unlock, in transmitting, the first locking assembly and second locking assembly locking are so that the branch It keeps opposing stationary between 8 three of support group seat 2, orientation frame 7 and the pitching frame, relies on locking group in transmitting in this way Part locks pitch orientation and azimuth direction, and the position that itself may be implemented is locked, eliminates platform disturbance, improves shooting essence Degree.

Orientation power transmission unit includes orientation power output component 1 and Azimuth measurement component 9, orientation power output component 1 is connected by screw on pinboard 12, and Azimuth measurement component 9 is connected in support base 2, and pitching power transmission unit includes Pitching power output component 6 and Azimuth measurement component 11, wherein pitching power output component is connected by screw in orientation frame 7 On, pitching angle measurement component 11 is connected on orientation frame 7.

In conjunction with shown in Fig. 2 and 3, in the present embodiment, orientation power output component 1 includes orientation torque motor 101, orientation electricity Machine support 102, orientation retarder 103, orientation reducer stent 104, Coupling Shaft 105, the first angular contact bearing 106 and orientation are defeated Shaft 107 forms, and orientation reducer stent 104 is connected by screw on pinboard 12, and orientation retarder 103 is connected with screw On orientation reducer stent (104), azimuth-drive motor bracket 102 is connected on orientation retarder 103 with screw, orientation torque electricity Machine 101 is connected by screw on azimuth-drive motor bracket 102, is wherein led between orientation torque motor 101 and orientation retarder 103 It crosses connecting key to fix, Coupling Shaft 105 supports both ends to be connected to 103 He of orientation retarder by the first angular contact bearing 106 On orientation output shaft 107, output shaft 107 other end in orientation is fixed by screws on orientation frame 7.

Azimuth measurement component 9 includes Azimuth measurement axis 901, orientation fixing seat 902, the second angular contact bearing 903, azimuth axis Socket end lid 904, bearing potentiometer 905, bearing potentiometer pressing plate 906, wherein orientation fixing seat 902 is connected in support base 2, Azimuth measurement axis (901) supports both ends to be connected to orientation frame 7 and bearing potentiometer by the second angular contact bearing 903 In 905 shafts, bearing end cap 904 is connected by screw in orientation fixing seat 902, plays the role of the preload to bearing, Bearing potentiometer 905 is fixed on bearing end cap 904 by bearing potentiometer pressing plate 906.

As shown in Figure 4 and Figure 5, pitching power transmission unit includes pitching power driving module 6 and pitching angle measurement component 11, Pitching power driving module 6 provides power to the movement of pitching frame 8, and pitching angle measurement component 11 measures the rotation angle of pitching frame 8 Degree, wherein pitching power driving module 6 includes pitching moment motor 601, pitching motor bracket 602, pitching retarder 603, bows Face upward reducer stent (04, pitching Coupling Shaft 605, coupling assembly 606, pitching output shaft 607 and the first pitch bearing 608.Its Middle pitching reducer stent 604 is connected by screw on orientation frame 7, and pitching retarder 603 is connected to pitching retarder branch On frame 604, pitching motor bracket 602 is connected on pitching retarder 603, and pitching moment motor 601 is connected to pitching motor branch On frame 602, it is connected by key between 603 axis hole of 601 shaft of pitching moment motor and pitching retarder, 605 liang of pitching Coupling Shaft End is connected on pitching retarder 603 and coupling assembly 606, branch of the pitching output shaft 607 in the first pitch bearing 608 Lower both ends are supportted to be connected on coupling assembly 606 and pitching frame 8.

Pitching angle measurement component 11 include pitching potentiometer pressing plate 1101, pitching potentiometer 1102, pitch bearing end cap 1103, Second pitch bearing 1104 and pitching angle measurement axis 1105, wherein the second pitch bearing 1104 is mounted on orientation frame 7, pitching is surveyed The both ends under the support of the second pitch bearing 1104 of angle axis 1105 are connected to turn of pitching frame 8 and pitching potentiometer 1102 On axis, pitch bearing end cap 1103 is connected on orientation frame 7, and pitching potentiometer 1102 is solid by pitching potentiometer pressing plate 1101 It is scheduled on pitch bearing end cap 1103.

As shown in fig. 6, the first locking assembly includes the first electromagnet being arranged in support base 2 and is arranged in orientation The first stressed plate on frame 7, the first electromagnet fit when being powered with the first stressed plate, and the first electromagnet 401 passes through spiral shell Nail is connected to support base 2, and the second stressed plate 402 is fixed by screws on orientation frame 7, and the second electromagnet 401 is being powered When and second stressed plate 402 fit, moment is powered before transmission, there is electromagnetic force when the first electromagnet 401 is powered, the Specially treated is passed through on one stressed plate, 402 surface, and in the first 401 no power of electromagnet, the first stressed plate 402 can be in surface phase To sliding, frictional force is small, and maximum the suction-combining force may be implemented in energization.

As shown in fig. 7, the second locking assembly includes that the second electromagnet 501 being arranged on orientation frame 7 and setting exist The second stressed plate 502 on pitching frame 8, the second electromagnet 501 are connected by screw in orientation frame 7, the second stressed plate 502 It is fixed by screws on pitching frame 8, the second electromagnet 201 fits when being powered with second stressed plate 502, is sending out Moment is powered before penetrating, and has electromagnetic force when the second electromagnet 501 is powered, and specially treated is passed through on 502 surface of the second stressed plate, the When two 501 no powers of electromagnet, the second stressed plate 502 can be slided surface is opposite, and frictional force is small, can be in energization Realize maximum the suction-combining force.

In the present embodiment, two group of first locking assembly is used when orientation frame is locked, four are used when pitching frame is locked Second locking assembly, can also be increased or decreased as needed, be not construed as limiting to this.

It optionally, further include shoe for carrying weapon, the shoe is mounted on the pitching frame, Platform bearer ability is big, has the ability of quick tracking aiming to target, weapons and ammunitions emit front platform can by locking device To realize the locked of itself, design accuracy declines caused by eliminating due to platform disturbance, is suitable for rocket projectile etc. and fills without guidance The arm discharge set.

It optionally, further include photoelectric detecting system, for being detected, being locked and being tracked to target object, photodetection System includes visible-light detector 14, infrared detector 15 and laser range finder 3, is connected by screw to respectively in pinboard 12 On.

In the present embodiment, it is airborne with dynamic stability flat pad be more gyroplanes, helicopter or fixed wing aircraft, not to this It limits.

It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

It is airborne to one kind provided by the present invention above to be described in detail with dynamic stability flat pad, for this field Those skilled in the art, thought according to an embodiment of the present invention has change in specific embodiments and applications Place, in conclusion the contents of this specification are not to be construed as limiting the invention.

Claims

1. An airborne follow-up stable launch platform is characterized in that it comprises a structural system and a power transmission system, and the structural system comprises a support base, a vibration shock absorber, an azimuth frame, a pitch frame and an adapter plate, and the The adapter plate is connected to the support base through the vibration damper, the power transmission system includes an azimuth power transmission unit and a pitch power transmission unit, and the azimuth frame is rotatably installed through the azimuth power transmission unit On the support base, the pitch frame is rotatably mounted on the azimuth frame through the pitch power transmission unit, and a first locking assembly is provided between the azimuth frame and the support base, so A second locking assembly is provided between the azimuth frame and the pitching frame. Before or after launching, the first locking assembly and the second locking assembly are unlocked. When launching, the first locking assembly The locking component and the second locking component are locked so that the support base, the azimuth frame and the pitch frame remain relatively stationary.

2. The airborne follow-up and stable launch platform according to claim 1, wherein the first locking assembly includes a first electromagnet arranged on the support base and a first electromagnet arranged on the azimuth frame. The first force plate, the first electromagnet is attached to the first force plate when energized;

The second locking assembly includes a second electromagnet arranged on the azimuth frame and a second force plate arranged on the pitch frame, and the second electromagnet is connected to the second force plate when it is energized. The force plate fits together.

3. The airborne follow-up and stable launch platform according to claim 1, characterized in that, the azimuth power transmission system includes an azimuth power output assembly for providing the azimuth frame power and for measuring the rotation of the azimuth frame Angle azimuth angle measurement assembly, the azimuth power output assembly is connected to the adapter plate, and the azimuth angle measurement assembly is connected to the support base.

4. The airborne follow-up and stable launch platform according to claim 3, wherein the azimuth power output assembly comprises an azimuth torque motor, an azimuth motor bracket, an azimuth reducer, an azimuth reducer bracket, an adapter shaft, a second An angular contact bearing and an azimuth output shaft, the azimuth reducer bracket is connected to the adapter plate, the azimuth reducer is installed on the azimuth reducer bracket, and the azimuth motor bracket is connected to the azimuth reducer On the device, the azimuth torque motor is installed on the azimuth motor bracket, the azimuth torque motor and the azimuth reducer are fixed by connecting keys, and the connecting shafts are respectively connected to the The azimuth reducer is connected to one end of the azimuth output shaft, and the other end of the azimuth output shaft is fixedly connected to the azimuth frame.

5. The airborne follow-up and stable launching platform according to claim 3 or 4, wherein the azimuth angle measurement assembly comprises an azimuth angle measurement shaft, an azimuth fixing seat, a second angular contact bearing, an azimuth bearing end cover, An azimuth potentiometer and an azimuth potentiometer pressure plate, the azimuth fixing seat is connected to the support base, and the two ends of the azimuth goniometer shaft are respectively connected to the azimuth frame and the azimuth frame through the second angular contact bearing support. On the rotating shaft of the azimuth potentiometer, the azimuth bearing end cover is connected to the azimuth fixing seat, and the azimuth potentiometer is fixed on the azimuth bearing end cover through the azimuth potentiometer pressure plate.

6. The airborne follow-up and stable launch platform according to claim 1, wherein the pitching power transmission unit includes a pitching power transmission assembly for providing power for the pitching frame and a pitching power transmission assembly for measuring the pitching frame The pitch angle measurement assembly of the rotation angle, the pitch power transmission assembly includes a pitch torque motor, a pitch motor bracket, a pitch reducer, a pitch reducer bracket, a pitch adapter shaft, a coupling assembly, a pitch output shaft and a first pitch Bearings, the pitch reducer bracket is connected to the azimuth frame, the pitch reducer is installed on the pitch reducer bracket, the pitch motor bracket is connected to the pitch reducer, and the pitch moment motor Connected to the pitch motor bracket, the rotation shaft of the pitch torque motor is connected to the shaft hole of the pitch reducer, and the two ends of the pitch adapter shaft are respectively connected to the pitch reducer and the coupling Assemblies, the pitch output shaft is respectively connected to the coupling assembly and the pitch frame under the support of the first pitch bearing.

7. The airborne follow-up and stable launch platform according to claim 6, wherein the pitch angle measurement assembly comprises a pitch potentiometer platen, a pitch potentiometer, a pitch bearing end cover, a second pitch bearing, and a pitch angle measurement shaft, the pitch bearing is installed on the azimuth frame, and the pitch angle measuring shaft is respectively connected to the pitch frame and the rotating shaft of the pitch potentiometer under the support of the second pitch bearing, and the pitch The bearing end cover is connected to the azimuth frame, and the pitch potentiometer is fixed on the pitch bearing end cover through the pitch potentiometer pressure plate.

8. The airborne follow-up and stable launch platform according to claim 1, further comprising a launch guide rail for carrying weapons, the launch guide rail being installed on the pitch frame.

9. The airborne follow-up and stable launch platform according to claim 1, further comprising a photoelectric detection system for detecting, locking and tracking the target object.

10. The airborne follow-up and stable launching platform according to claim 1, wherein the airborne follow-up and stable launching platform is a multi-rotor aircraft, a helicopter or a fixed-wing aircraft.