Missile loading calibration target device capable of being quickly deployed and recovered and control method thereof

Abstract

The application provides a missile loading and calibration device which can be quickly deployed and recovered, comprising a missile loading module, a shell calibration platform and a loading and calibration upper computer control platform; the shell calibration platform is used for controlling the missile to enter and exit the launching cylinder and calibrating the launching cylinder; the feedback of the servo motor in the shell calibration platform is used for detecting the calibration accuracy of the whole launching cylinder product and transmitting data to the loading and calibration upper computer control platform; the missile loading module is used for realizing the entering and exiting of the missile in the launching cylinder; the feedback of the servo motor in the missile loading module is used for detecting the loading accuracy of the whole launching cylinder product. In the process of loading and calibration of the missile launching cylinder product, the application forms a new mode of the launching cylinder loading and calibration with the characteristics of automatic loading and calibration of the launching cylinder, real-time data visualization and online process control, improves the production efficiency of the launching cylinder and reduces the assembly labor.

Description

Technical Field

[0001] This invention relates to the field of missile launcher maintenance and testing in the aerospace technology field, and particularly to a missile loading and target calibration device and its control method that can be quickly deployed and recovered. Background Technology

[0002] Because a certain type of missile slides within guide rails inside the launch tube via its front and rear sliders, both of which are inverted T-shaped structures with a central groove, and both sliders are relatively small, high precision is required for the installation and inspection of components within the missile launch tube. Currently, the launch tube loading process uses a traditional "manual pushing" method, primarily done manually, which heavily relies on worker experience. Furthermore, the existing calibration method suffers from high personnel involvement, reliance on experience, and high labor intensity; separation of loading and calibration, resulting in multiple hoisting steps; outdated calibration methods and insufficient data recording during loading and calibration; and fragmented information, making centralized management difficult and potentially leading to equipment silos.

[0003] With the increasing demand for this type of missile launcher, there is an urgent need for an automatic detection device and control method for missile launchers to reduce the labor intensity of personnel, improve their production efficiency, and ensure the quality control of the product. Summary of the Invention

[0004] The purpose of this invention is to provide a missile loading and calibration device and its control method that can be quickly deployed and recovered, in order to solve the problems of high personnel involvement, high reliance on experience, and high labor intensity in the existing calibration mode; separation of loading and calibration, multiple hoisting steps; outdated calibration methods and insufficient application of data recording in the loading and calibration process; and scattered information that is difficult to centrally manage, which easily leads to the problem of equipment silos.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is: to provide a missile loading and target calibration device that can be quickly deployed and recovered, including a missile loading module, a missile target calibration platform and a loading and target calibration host computer control platform;

[0006] The missile launcher calibration platform is used to control the missile's entry and exit from the launch tube and to calibrate the launch tube. Through the feedback of the servo motor in the missile launcher calibration platform, the calibration accuracy of the entire launch tube product is detected, and the data is transmitted to the loading and calibration host computer control platform.

[0007] The missile loading module is used to realize the entry and exit of the missile in the launch tube. Through the feedback of the servo motor in the missile loading module, the loading accuracy of the entire launch tube product is detected, and it is fixed to the tube-missile calibration platform during missile loading.

[0008] Preferably, the bullet calibration platform includes a rear top support assembly, a gantry assembly, a bullet support assembly, a cylindrical guide rail, a calibration rotation assembly, a bullet calibration platform bracket, a reducer unit, bullet calibration platform casters, a bullet calibration platform servo motor, a bullet calibration platform support rod, and bullet calibration platform foot pads;

[0009] The bullet calibration platform bracket is installed on the ground via bullet calibration platform casters and bullet calibration platform support rods, and bullet calibration platform foot pads are for the convenience of operators to step on; the remaining parts are installed on the bullet calibration platform bracket.

[0010] The rear top support assembly is used to fix the launch tube during missile loading on the tube-missile target calibration platform;

[0011] The gantry assembly is used to fix the launch tube on the tube-projectile calibration platform during calibration.

[0012] The cartridge support assembly is used to fix the cartridge during the loading of the cartridge target calibration platform;

[0013] The cylindrical guide rail is used to install the rear top support assembly, the gantry assembly, and the bullet support assembly;

[0014] The target calibration rotating assembly is used to drive the launch tube to rotate during target calibration;

[0015] The speed reducer is used to drive the target rotation assembly to rotate.

[0016] The casters on the bullet calibration platform are used to move the bullet calibration platform.

[0017] Preferably, the missile loading module includes a missile loading module base frame, a missile loading module support, a missile loading small slide, a missile loading module servo motor, missile loading module casters, missile loading module foot pads, and missile loading module support rods;

[0018] The missile loading module bracket is installed on the ground via missile loading module casters and missile loading module support rods, and the missile loading module foot pads are for the convenience of operators to step on; the remaining parts are installed on the missile loading module base frame.

[0019] The missile loading module support is used to fix the missile during missile loading;

[0020] The missile loading slide is used to drive the missile into the launch tube during missile loading;

[0021] The servo motor of the missile loading module is used to drive the missile loading slide to bring the missile into the launch tube during missile loading.

[0022] The missile loading module's casters are used to move the missile loading module.

[0023] Preferably, the loading and calibration target control platform includes a PLC, a wireless remote control box and receiver, a control platform servo driver and motor, three speed sensing sensors, and two limit sensors;

[0024] The PLC controls the servo driver and motor of the control platform via pulses. Limit sensors, wireless remote control box and receiver, and electromagnetic clutch are connected to the PLC for control via I / O modules.

[0025] Preferably, the missile is automatically fed into the launch tube by the servo motor of the missile loading module. After the missile is fed into the tube, the launch tube is rotated by the tube-missile calibration platform to perform calibration and testing. After the test is completed, the missile is automatically ejected from the tube.

[0026] Preferably, the simulated bullet entering the tube is triggered sequentially by speed sensors 1, 2, and 3 to achieve three-stage deceleration of the entering speed; the simulated bullet exiting the tube is triggered sequentially by speed sensors 3, 2, and 1 to achieve three-stage acceleration of the exit speed.

[0027] The control platform servo driver has an internal torque ratio limiter to reduce the maximum torque of the servo system and ensure the reliable and safe operation of the automatic detection device for the launch tube.

[0028] Another technical solution of the present invention provides a control method for the above-mentioned rapidly deployable and recoverable missile loading and target calibration device, comprising the following steps:

[0029] S1. Place the cannon-missile calibration platform and the missile loading module in the designated position and fix them by the support rods of the cannon-missile calibration platform and the missile loading module;

[0030] S2. Hoist the missile and launch tube products onto the missile loading module and the launch tube target calibration platform respectively, and fix the launch tube with the rear top support assembly;

[0031] S3. When missile loading begins, the servo motor of the missile loading module is started, which pushes the missile loading slide to drive the missile into the launch tube.

[0032] S4. During the process of loading missiles into the launch tube, the power feedback of the servo motor of the missile loading module is extracted by the host computer control platform.

[0033] S5. If the power feedback of the servo motor of the missile loading module is greater than the set value, the loading and calibration host computer control platform will alarm and stop the rotation of the servo motor of the missile loading module, that is, it is detected that the installation accuracy of the launch tube product does not meet the requirements.

[0034] Step 6: After the missile is loaded into the launch tube, manually move the missile loading slide onto the missile loading module.

[0035] Step 7: Operate the gantry assembly to fix the launch tube;

[0036] Step 8: Start the servo motor of the bullet calibration platform, so that the servo motor drives the calibration rotating device to rotate through the reducer, causing the launch tube to tilt.

[0037] Step 9: The launch tube is powered on for target calibration, and the information is transmitted to the loading and calibration host computer control platform;

[0038] Step 10: After completing the target calibration, start the servo motor of the missile loading module to rotate in the reverse direction, so as to remove the missile from the launch tube and complete the missile loading and target calibration.

[0039] The beneficial effects of the rapidly deployable and recoverable missile loading and target calibration device and its control method provided by this invention are as follows:

[0040] This invention establishes a new mode for missile launcher filling and calibration, characterized by automatic launcher filling and calibration, real-time data visualization, and online process control. This improves launcher production efficiency, reduces assembly labor, and ultimately promotes further enhancement of the core competitiveness of the aerospace manufacturing industry. Attached Figure Description

[0041] The invention will be further described below with reference to the accompanying drawings:

[0042] Figure 1 This is a schematic diagram of the structure of the device of the present invention;

[0043] Figure 2 This is a schematic diagram of the missile loading module of the device of the present invention;

[0044] Figure 3 This is a schematic diagram of the bullet calibration platform of the device of the present invention;

[0045] Figure 4 This is a flowchart of the control method of the present invention;

[0046] Figure 5 This is a control system architecture diagram of the present invention. Detailed Implementation

[0047] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed account of the rapidly deployable and recoverable missile loading and target calibration device and its control method proposed in this invention. The advantages and features of this invention will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise ratios, and are only used to facilitate and clarify the illustration of the embodiments of this invention.

[0048] This invention discloses a missile loading and target calibration device and control method that can be quickly deployed and recovered, such as... Figures 1-3 As shown, 1 is the missile calibration platform, 2 is the missile loading module, 3 is the rear support assembly, 4 is the gantry assembly, 5 is the missile support assembly, 6 is the cylindrical guide rail, 7 is the calibration rotation assembly, 8 is the missile calibration platform bracket, 9 is the reducer unit, 10 is the missile calibration platform caster, 11 is the servo motor, 12 is the missile calibration platform strut, 13 is the missile calibration platform foot pad, 14 is the missile loading module base frame, 15 is the missile loading module support, 16 is the missile loading small slide, 17 is the missile loading module servo motor, 18 is the missile loading module caster, 19 is the missile loading module foot pad, and 20 is the missile loading module strut.

[0049] The technical solution to achieve the purpose of this invention is: a missile loading and target calibration device and control method that can be quickly deployed and recovered, including: a missile target calibration platform 1, a missile loading module 2, and a detection host computer control platform, etc.

[0050] The target calibration platform 1 includes a rear support assembly 3, a gantry frame assembly 4, a target support assembly 5, a cylindrical guide rail 6, a target calibration rotation assembly 7, a target calibration platform bracket 8, a reducer unit 9, target calibration platform casters 10, a servo motor 11, a target calibration platform support rod 12, and a target calibration platform foot pad 13. The target calibration platform bracket 8 is mounted on the ground via the target calibration platform casters 10 and the target calibration platform support rod 12. The target calibration platform foot pad 13 is for convenient stepping by the operator. The remaining parts are mounted on the target calibration platform bracket 8.

[0051] The aforementioned missile launcher calibration platform controls the missile's entry and exit from the launch tube and the completion of the launch tube calibration. Through feedback from the servo motor in the platform, it detects the calibration accuracy of the entire launch tube product and transmits the data to the docking host computer monitoring platform.

[0052] The rear top support assembly 3 is used to fix the launch tube during missile loading on the tube-missile target calibration platform.

[0053] The gantry assembly 4 is used to fix the launch tube on the target calibration platform during target calibration.

[0054] The aforementioned cartridge support assembly 5 is used to fix the cartridge during cartridge loading on the cartridge calibration platform.

[0055] The cylindrical guide rail 6 is used to install the rear top support assembly 3, the gantry assembly 4, and the spring support assembly 5.

[0056] The target calibration rotation component 7 is used to drive the launch tube to rotate during target calibration;

[0057] The speed reducer 9 is used to drive the target rotation assembly to rotate;

[0058] The casters 10 of the bullet calibration platform are used to move the bullet calibration platform 1.

[0059] The missile loading module 2 includes a missile loading module base frame 14, a missile loading module support 15, a missile loading small slide 16, a missile loading module servo motor 17, missile loading module casters 18, missile loading module foot pads 19, and a missile loading module support rod 20. The missile loading module support 14 is mounted on the ground via the missile loading module casters 18 and the missile loading module support rod 20. The missile loading module foot pads 19 are for convenient stepping by operators. The remaining parts are mounted on the missile loading module base frame 14.

[0060] The missile loading module realizes the process of missile entering and exiting the launch tube. Through the feedback of the servo motor in the module, the loading accuracy of the entire launch tube product is detected, and it is fixed to the tube-missile calibration platform during missile loading.

[0061] The missile loading module support 15 is used to fix the missile during missile loading.

[0062] The missile loading slide 16 is used to drive the missile into the launch tube during missile loading.

[0063] The servo motor 17 of the missile loading module is used to drive the missile loading slide 16 to drive the missile into the launch tube during missile loading.

[0064] The missile loading module caster 18 is used to move the missile loading module 2.

[0065] The automatic loading and target calibration process of the missile launch tube is as follows: The missile launch tube target calibration platform 1 and the missile loading module 2 are placed in designated positions and fixed using the support rods of the two platforms; the missile and launch tube are respectively hoisted onto the missile loading module 2 and the missile launch tube target calibration platform 1, and the rear top support assembly 3 is fixed to the launch tube; when missile loading begins, the servo motor 17 of the missile loading module is started, pushing the missile loading slide 16 to drive the missile into the launch tube; during the process of loading the missile into the launch tube, the upper computer control platform extracts the power feedback of the servo motor 17 of the missile loading module; if the power feedback of the servo motor 17 is greater than... If the set value is not met, the system will alarm and stop the servo motor 17 from rotating, indicating that the installation accuracy of the launch tube product does not meet the requirements. If the missile is loaded into the launch tube, the missile loading slide 16 is manually moved onto the missile loading module. The gantry assembly 4 is operated to fix the launch tube. The servo motor 11 of the tube-missile calibration platform is started, so that the servo motor 11 drives the calibration rotation device 7 to rotate through the reducer group 9, causing the launch tube to tilt. The launch tube is powered on for calibration and transmits the information to the host computer control platform. After calibration is completed, the servo motor 17 of the missile loading module is started to rotate in the opposite direction, so that the missile is removed from the launch tube, completing the missile loading and calibration.

[0066] like Figure 4 As shown, the missile loading and target calibration device and control method that can be quickly deployed and recovered includes the following steps:

[0067] Step 1: Place the missile calibration platform and missile loading module in the designated positions and secure them with the support rods of the two platforms;

[0068] Step 2: Hoist the missile and launch tube onto the missile loading module and launch tube target calibration platform respectively, and fix the launch tube with the rear top support assembly;

[0069] Step 3: When missile loading begins, start the servo motor of the missile loading module to push the missile loading slide and drive the missile into the launch tube.

[0070] Step 4: During the process of loading the missile into the launch tube, the host computer control platform extracts the power feedback of the servo motor of the missile loading module.

[0071] Step 5: If the power feedback of the servo motor is greater than the set value, the control system will alarm and stop the servo motor from rotating, that is, it is detected that the installation accuracy of the launch tube product does not meet the requirements.

[0072] Step 6: After the missile is loaded into the launch tube, manually move the missile loading slide onto the missile loading module.

[0073] Step 7: Operate the gantry assembly to fix the launch tube;

[0074] Step 8: Start the servo motor of the tube-projectile target calibration platform, so that the servo motor drives the target calibration rotation device to rotate through the reducer set, causing the launch tube to tilt.

[0075] Step 9: The launch tube is powered on for target calibration and the information is transmitted to the host computer control platform;

[0076] Step 10: After completing the target calibration, start the servo motor of the missile loading module to rotate in the reverse direction, so as to remove the missile from the launch tube and complete the missile loading and target calibration.

[0077] like Figure 5 As shown, the control system of the automatic detection device for a missile launch tube includes an Omron PLC, a wireless remote control box and receiver, a servo driver and motor, an electromagnetic clutch, three speed-sensing sensors (limit 1, limit 2, and limit 3), and two limit sensors. The PLC controls the movement of the servo system through pulses, and the limit sensors, wireless remote control box and receiver, and electromagnetic clutch are connected to the PLC for control through I / O modules.

[0078] Compared with the prior art, the present invention has the following beneficial effects:

[0079] This invention establishes a new mode for missile launcher filling and calibration, characterized by automatic launcher filling and calibration, real-time data visualization, and online process control. This improves launcher production efficiency, reduces assembly labor, and ultimately promotes further enhancement of the core competitiveness of the aerospace manufacturing industry.

[0080] The contents not described in detail in this specification are prior art known to those skilled in the art. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

Claims

1. A missile loading and target calibration device capable of rapid deployment and recovery, characterized in that, This includes a missile loading module, a missile calibration platform, and a loading and calibration host computer control platform; The missile launcher calibration platform is used to control the missile's entry and exit from the launch tube and to calibrate the launch tube. Through the feedback of the servo motor in the missile launcher calibration platform, the calibration accuracy of the entire launch tube product is detected, and the data is transmitted to the loading and calibration host computer control platform. The missile loading module is used to realize the entry and exit of the missile in the launch tube. Through the feedback of the servo motor in the missile loading module, the loading accuracy of the entire launch tube product is detected, and it is fixed to the tube-missile calibration platform during missile loading.

2. The missile loading and target calibration device capable of rapid deployment and recovery as described in claim 1, characterized in that, The bullet calibration platform includes a rear support assembly, a gantry assembly, a bullet support assembly, a cylindrical guide rail, a calibration rotation assembly, a bullet calibration platform bracket, a reducer unit, bullet calibration platform casters, a bullet calibration platform servo motor, a bullet calibration platform support rod, and bullet calibration platform foot pads. The bullet calibration platform bracket is installed on the ground via bullet calibration platform casters and bullet calibration platform support rods, and bullet calibration platform foot pads are for the convenience of operators to step on; the remaining parts are installed on the bullet calibration platform bracket. The rear top support assembly is used to fix the launch tube during missile loading on the tube-missile target calibration platform; The gantry assembly is used to fix the launch tube on the tube-projectile calibration platform during calibration. The cartridge support assembly is used to fix the cartridge during the loading of the cartridge target calibration platform; The cylindrical guide rail is used to install the rear top support assembly, the gantry assembly, and the bullet support assembly; The target calibration rotating assembly is used to drive the launch tube to rotate during target calibration; The speed reducer is used to drive the target rotation assembly to rotate. The casters on the bullet calibration platform are used to move the bullet calibration platform.

3. The missile loading and target calibration device capable of rapid deployment and recovery as described in claim 2, characterized in that, The missile loading module includes a missile loading module base frame, a missile loading module support, a missile loading small slide, a missile loading module servo motor, missile loading module casters, missile loading module foot pads, and a missile loading module support rod. The missile loading module bracket is installed on the ground via missile loading module casters and missile loading module support rods, and the missile loading module foot pads are for the convenience of operators to step on; the remaining parts are installed on the missile loading module base frame. The missile loading module support is used to fix the missile during missile loading; The missile loading slide is used to drive the missile into the launch tube during missile loading; The servo motor of the missile loading module is used to drive the missile loading slide to bring the missile into the launch tube during missile loading. The missile loading module's casters are used to move the missile loading module.

4. The missile loading and target calibration device capable of rapid deployment and recovery as described in claim 3, characterized in that, The loading and calibration host computer control platform includes a PLC, a wireless remote control box and receiver, a control platform servo driver and motor, three speed sensing sensors, and two limit sensors. The PLC controls the servo driver and motor of the control platform via pulses. Limit sensors, wireless remote control box and receiver, and electromagnetic clutch are connected to the PLC for control via I / O modules.

5. The missile loading and target calibration device capable of rapid deployment and recovery as described in claim 4, characterized in that, The missile is automatically fed into the launch tube by the servo motor of the missile loading module. After the missile is fed into the tube, the launch tube is rotated by the tube-missile calibration platform to complete the calibration test. After the test is completed, the missile is automatically ejected from the tube.

6. The missile loading and target calibration device capable of rapid deployment and recovery as described in claim 4, characterized in that, The simulated projectile entering the tube is triggered sequentially by speed sensors 1, 2, and 3 to achieve three-stage deceleration of the entering speed; the simulated projectile exiting the tube is triggered sequentially by speed sensors 3, 2, and 1 to achieve three-stage acceleration of the exit speed. The control platform servo driver has an internal torque ratio limiter to reduce the maximum torque of the servo system and ensure the reliable and safe operation of the automatic detection device for the launch tube.

7. The control method for the rapidly deployable and recoverable missile loading and target calibration device as described in claim 6, characterized in that, Includes the following steps: S1. Place the cannon-missile calibration platform and the missile loading module in the designated position and fix them by the support rods of the cannon-missile calibration platform and the missile loading module; S2. Hoist the missile and launch tube products onto the missile loading module and the launch tube target calibration platform respectively, and fix the launch tube with the rear top support assembly; S3. When missile loading begins, the servo motor of the missile loading module is started, which pushes the missile loading slide to drive the missile into the launch tube. S4. During the process of loading missiles into the launch tube, the power feedback of the servo motor of the missile loading module is extracted by the host computer control platform. S5. If the power feedback of the servo motor of the missile loading module is greater than the set value, the loading and calibration host computer control platform will alarm and stop the rotation of the servo motor of the missile loading module, that is, it is detected that the installation accuracy of the launch tube product does not meet the requirements. Step 6: After the missile is loaded into the launch tube, manually move the missile loading slide onto the missile loading module. Step 7: Operate the gantry assembly to fix the launch tube; Step 8: Start the servo motor of the cannon-projectile calibration platform, so that the servo motor drives the calibration rotating device to rotate through the reducer, causing the launch tube to tilt. Step 9: The launch tube is powered on for target calibration, and the information is transmitted to the loading and calibration host computer control platform; Step 10: After completing the target calibration, start the servo motor of the missile loading module to rotate in the reverse direction, so as to remove the missile from the launch tube and complete the missile loading and target calibration.

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