Stabilized compensation device and weapon station

Abstract

The application provides a stable compensation device and a weapon station, which comprises a bearing platform, a stable compensation structure and a base; the stable compensation structure comprises passive branches and a plurality of driving branches; one end of the passive branches is fixedly connected to the base, and the other end is connected to the bearing platform through a universal connecting piece; one end of part of the driving branches is connected to the base through a rotary pair, and the other end of part of the driving branches is connected to the base through a universal connecting piece; the other end of the driving branches is connected to the bearing platform through a spherical hinge, wherein the driving branches are arranged around the four sides of the passive branches; the plurality of driving branches can drive the bearing platform to perform a compensation movement of rolling and pitching, and can perform a variable stiffness buffering on the bearing platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of weapon launching platform, in particular, to a stable compensation device and a weapon station. BACKGROUND

[0002] As an independent modular weapon system, the weapon station has the advantages of compact structure, light weight, good adaptability and universality, and can be equipped on military equipment such as ships and armored vehicles. The launching accuracy and stability of the weapon station directly affect the combat effectiveness and execution capability. However, whether applied to ships or armored vehicles, the weapon station will sway due to the high-speed movement of the equipped military equipment, especially the roll and pitch movements, and the recoil force generated by the weapon station itself during launching, which will greatly affect the pointing of the launching axis of the weapon station and reduce the launching accuracy. Especially for shipborne weapon stations, due to the coupling effect of various factors such as wind and waves, the deck of the ship often moves irregularly and greatly, so it is very meaningful to design a stable compensation device to ensure the launching accuracy of the weapon.

[0003] Patent document CN212584658U discloses a shipborne stabilizing device, which uses a strapdown inertial navigation device to measure the attitude information of the ship in real time, and through the attitude information, the extension lengths of three electric cylinders are inversely solved, and then the electric cylinders drive the upper platform to make roll and pitch movements, thereby stabilizing the instruments and meters installed on the upper platform. This scheme can only actively stabilize by driving and does not have a buffering function, so it is not suitable for application scenarios that need to withstand the recoil force of the weapon. SUMMARY

[0004] In view of the defects in the prior art, the purpose of the present application is to provide a stable compensation device and a weapon station.

[0005] According to the stable compensation device provided by the present application, the stable compensation device comprises a bearing platform 8, a stable compensation structure 2 and a base 14.

[0006] The stable compensation structure 2 comprises a passive branch chain 13 and a plurality of drive branch chains, one end of the passive branch chain 13 is fixedly connected to the base 14, and the other end is connected to the bearing platform 8 through a universal connecting piece; one end of part of the drive branch chains is connected to the base 14 through a revolute pair, and one end of part of the drive branch chains is connected to the base 14 through a universal connecting piece; the other end of the drive branch chains is connected to the bearing platform 8 through a spherical hinge, wherein the drive branch chains are arranged around the passive branch chain 13.

[0007] The plurality of drive branch chains can drive the bearing platform 8 to perform compensation movements of roll and pitch, and can perform variable stiffness buffering on the bearing platform 8.

[0008] Preferably, the driving branch chain comprises a cylinder 24, a piston rod 29, a first elastic member 25, a second elastic member 26 and a connecting baffle 23.

[0009] The piston rod 29 and the connecting baffle 23 are movably arranged in the cylinder 24, and divide the interior of the cylinder 24 into a first chamber 30 between the piston rod 29 and the connecting baffle 23, a second chamber 20 outside the piston rod 29, and a third chamber outside the connecting baffle 23.

[0010] The first elastic member 25 is arranged in the third chamber, and the second elastic member 26 is arranged in the first chamber 30.

[0011] A first oil inlet / outlet 22 is arranged on the side wall of the first chamber 30, and a second oil inlet / outlet 21 is arranged on the side wall of the second chamber 20.

[0012] Preferably, the piston rod 29 comprises a piston part and a rod part, and the diameter of the piston part is smaller than the inner diameter of the cylinder 24, so that an annular leakage port 28 is formed between the outer periphery of the piston part and the inner wall of the cylinder 24.

[0013] Preferably, the piston rod 29 comprises a piston part and a rod part, and the piston part is axially provided with a damping hole 27 connecting the first chamber 30 and the second chamber 20.

[0014] Preferably, the first elastic member 25 and the second elastic member 26 comprise springs.

[0015] Preferably, the driving branch chain comprises a first branch chain 9, a second branch chain 10, a third branch chain 11 and a fourth branch chain 12.

[0016] The first branch chain 9, the second branch chain 10 and the fourth branch chain 12 are connected to the base 14 through revolute pairs, and the third branch chain 11 is connected to the base 14 through a universal hinge.

[0017] The first branch chain 9 and the third branch chain 11 are symmetrically arranged, and the second branch chain 10 and the fourth branch chain 12 are respectively located on the two sides of the line connecting the first branch chain 9 and the third branch chain 11, and the line connecting the four hinge points of the branch chains forms a parallelogram.

[0018] The axes of the revolute pairs of the first branch chain 9 and the second branch chain 10 are perpendicular to each other, and the axes of the revolute pairs of the first branch chain 9 and the third branch chain 11 are perpendicular to each other.

[0019] Preferably, the passive branch chain 13 is connected to the load platform 8 through a universal hinge 18, and the driving branch chain is connected to the load platform 8 through a spherical hinge 17.

[0020] Preferably, a slewing structure 3 is further included, which is drivingly connected with the base 14 to drive the base 14 to rotate.

[0021] Preferably, the slewing structure 3 comprises a servo motor 31, a gear 32, a first fixing member 33, an inner support 36, an outer support 37, a second fixing member 38 and a support ball 39.

[0022] An inner straight tooth 35 is arranged on an inner wall of the inner support 36, an output end of the servo motor 31 is connected with the inner straight tooth 35 through the gear 32, and the outer support 37 is rollingly connected with the inner support 36 through the support ball 39.

[0023] The base 14 is fixedly connected with the outer support 37 through the second fixing member 38, and the inner support 36 is fixedly connected with an external object through the first fixing member 33.

[0024] According to the application, a weapon station is provided, which comprises a weapon body 1 and the above-mentioned stabilizing compensation device, and the weapon body 1 is connected with the bearing platform 8.

[0025] Compared with the prior art, the application has the following beneficial effects:

[0026] 1. The application adopts a redundant driving parallel structure, has the motion compensation ability of roll and pitch, and five branch chains can ensure uniform bearing, so that the application has high bearing capacity and impact resistance; especially, the passive branch chain in the middle can ensure that the object on the bearing platform does not move when bearing the huge impact of recoil force; in addition, the four driving branch chains have the advantages of high fault tolerance and strong maneuverability in control implementation.

[0027] 2. In order to cope with the dual requirements of motion compensation and high overload in the instant of launching, the application designs a variable stiffness hydraulic buffer driving device, which has the ability of motion compensation in cooperation with a hydraulic servo system; when the closed oil pipe is sealed, the two elastic members realize the variable stiffness characteristic in the buffer process, and have good impact resistance. BRIEF DESCRIPTION OF DRAWINGS

[0028] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0029] Figure 1 Fig. 1 is a schematic diagram of the overall structure of a weapon station;

[0030] Figure 2 Fig. 2 is a schematic diagram of the structure of a weapon body;

[0031] Figure 3 Fig. 3 is a schematic diagram of the front structure of a stabilizing compensation device;

[0032] Figure 4 A schematic diagram of the rear structure of the stabilization compensation device;

[0033] Figure 5 Schematic diagram of a variable stiffness hydraulic buffer drive device;

[0034] Figure 6 This is a schematic diagram of a rotating structure;

[0035] Figure 7 A schematic diagram of one implementation method for locking a hydraulic buffer drive device;

[0036] Explanation of reference numerals in the attached figures:

[0037] 1-Weapon body, 2-Stabilization compensation device, 3-Rotating structure, 4-Barrel, 5-Elevation axis, 6-Turret connector, 7-Attitude sensor, 8-Load-bearing platform, 9-Branch 1, 10-Branch 2, 11-Branch 3, 12-Branch 4, 13-Passive branch, 14-Base, 15-Rotating joint, 16-Sliding joint, 17-Spherical hinge, 18-Universal hinge, 19-Universal hinge, 20-Second chamber, 21- 22-First oil inlet / outlet, 23-Connecting baffle, 24-Cylinder body, 25-First elastic element, 26-Second elastic element, 27-Damping hole, 28-Annular leak, 29-Piston rod, 30-First chamber, 31-Servo motor, 32-Gear, 33-First fixing element, 34-Deck, 35-Internal spur gear, 36-Internal support, 37-External support, 38-Second fixing element, 39-Support ball. Detailed Implementation

[0038] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0039] like Figure 1 As shown, this embodiment provides a weapon station, including a weapon body 1 and a stabilization compensation device 2. The weapon body 1 is connected to the stabilization compensation device 2, and the stabilization compensation device 2 is connected to the rotating structure 3.

[0040] like Figure 2 As shown, the weapon body 1 is equipped with a fire control system, which mainly realizes the artillery firing mission, including the gun barrel 4, elevation and depression axis 5, attitude sensor 6, and turret connector 7, etc.

[0041] like Figure 3 , Figure 4As shown, the main structure of the stabilizing compensation device 2 is a two-degree-of-freedom redundant drive parallel mechanism, which can realize the compensation movement of roll and pitch, and mainly comprises a bearing platform 8, a stabilizing compensation structure 2 and a base 14. The stabilizing compensation structure 2 comprises a passive branch chain 13 and a plurality of drive branch chains. One end of the passive branch chain 13 is fixedly connected to the base 14, and the other end is connected to the bearing platform 8 through a universal connecting piece. One end of part of the drive branch chains is connected to the base 14 through a revolute pair, and the other end of part of the drive branch chains is connected to the base 14 through a universal connecting piece. The other end of all the drive branch chains is connected to the bearing platform 8 through a spherical hinge. Among them, the drive branch chains are arranged around the four sides of the passive branch chain 13. The plurality of drive branch chains can drive the bearing platform 8 to perform the compensation movement of roll and pitch, and can perform the variable stiffness buffering of the bearing platform 8.

[0042] In the embodiment, there are four drive branch chains: a first branch chain 9, a second branch chain 10, a third branch chain 11 and a fourth branch chain 12. The first branch chain 9 and the third branch chain 11 are symmetrically arranged, the second branch chain 10 and the fourth branch chain 12 are symmetrically arranged, and the second branch chain 10 and the fourth branch chain 12 are respectively located on the two sides of the line connecting the first branch chain 9 and the third branch chain 11. In the geometric relationship, the connecting line of the four branch chain hinge points forms a parallelogram (and the connecting lines of the four hinge points of the bearing platform 8 and the four hinge points of the base 14 respectively form a parallelogram).

[0043] The first branch chain 9, the second branch chain 10 and the fourth branch chain 12 are connected to the base 14 through a revolute pair, and the third branch chain 11 is connected to the base 14 through a universal hinge. The revolute pair axes of the first branch chain 9 and the second branch chain 10 are perpendicular to each other, and the revolute pair axes of the first branch chain 9 and the third branch chain 11 are perpendicular to each other. The passive branch chain 13 is connected to the bearing platform 8 through a universal hinge 18, and the drive branch chains are connected to the bearing platform 8 through a spherical hinge 17.

[0044] Therefore, the first branch chain, the second branch chain, the fourth branch chain and the passive branch chain 13 form a constraint branch chain, and the fourth branch chain forms an unconstrained branch chain. According to the screw theory, the first branch chain, the second branch chain and the fourth branch chain provide three constraint forces for the bearing platform 8. Among the three constraint forces: one group is parallel, and two groups are perpendicular, so as to limit the movement of the platform in the x and y directions and the rotation along the z axis, leaving three degrees of freedom of roll, pitch and heave, which is the main reason why the three groups of revolute pair axes need to be perpendicular to each other; in addition, the passive branch chain 13 limits the heave degree of freedom of the platform, so that the platform has two degrees of freedom of roll and pitch. In addition, when the passive branch chain 13 is damaged, the other four designed branch chains can still enable the device to have the motion compensation capability of roll and pitch.

[0045] Specifically, the drive branch chains are all realized by a variable stiffness hydraulic buffer driving structure, which comprises a cylinder body 24, a piston rod 29, a first elastic member 25, a second elastic member 26 and a connecting baffle 23.

[0046] As shown in FIG. 4, the variable stiffness hydraulic buffer driving structure comprises a cylinder body 24, a piston rod 29, a first elastic member 25, a second elastic member 26 and a connecting baffle 23. Figure 5As shown, the piston rod 29 and the connecting baffle 23 are movably arranged in the cylinder 24, and divide the interior of the cylinder 24 into a first chamber 30 between the piston rod 29 and the connecting baffle 23, a second chamber 20 outside the piston rod 29, and a third chamber outside the connecting baffle 23. The first elastic member 25 and the second elastic member 26 can be springs, more specifically, the first elastic member 25 is a rectangular spring, and the second elastic member 26 is a soft spring, which are not limited in the present application.

[0047] The first elastic member 25 is arranged in the third chamber, and the second elastic member 26 is arranged in the first chamber 30. The side wall of the first chamber 30 is provided with a first oil inlet / outlet 22, and the side wall of the second chamber 20 is provided with a second oil inlet / outlet 21. The piston rod 29 comprises a piston part and a rod part, the diameter of the piston part is smaller than the inner diameter of the cylinder 24, so that an annular leakage port 28 is formed between the outer periphery of the piston part and the inner wall of the cylinder 24, and the piston part is axially provided with a damping hole 27 communicating the first chamber 30 and the second chamber 20. The connecting baffle 23 is connected with the soft spring on one side, and connected with the rectangular spring on the other side, and the other side of the rectangular spring is connected with the bottom of the cylinder 24. The soft spring has a smaller stiffness coefficient, and the rectangular spring has a larger stiffness coefficient, and the two are connected in series to realize the variable stiffness characteristic of the driving and buffering device.

[0048] As shown in the figure, Figure 6 The rotating structure 3 is drivingly connected with the base 14 to drive the base 14 to rotate. Specifically, the rotating structure 3 comprises a servo motor 31, a gear 32, a first fixing member 33 (such as a bolt), an inner support 36, an outer support 37, a second fixing member 38 (such as a bolt), and a supporting ball 39. The inner wall of the inner support 36 is provided with an inner straight tooth 35, the output end of the servo motor 31 is connected with the inner straight tooth 35 through the gear 32, and the outer support 37 is rollingly connected with the inner support 36 through the supporting ball 39. The base 14 is fixedly connected with the outer support 37 through the second fixing member 38, and the inner support 36 is fixedly connected with an external object (a deck 34) through the first fixing member 33. When the rotating servo motor 31 works, the gear 32 rotates, the gear 32 meshes with the inner straight tooth 35, and then drives the platform base 14 to rotate, realizing the rotating function.

[0049] The stable compensation device 2 can realize two degrees of freedom of roll and pitch without accompanying motion; when the branch chain one and the branch chain three cooperate, the shipborne supporting platform 8 can compensate the motion angle of the deck in the pitch direction; when the branch chain two and the branch chain four cooperate, the supporting platform 8 can compensate the motion angle of the deck in the roll direction; further, when the four driving branch chains move simultaneously, the supporting platform 8 can compensate the coupled motion of the deck. After the attitude sensor 7 senses the position information of the supporting platform 8, the stable balance control algorithm quickly calculates the required compensation angle of the supporting platform 8, and then drives the four hydraulic buffer driving devices to move, so as to ensure the horizontal of the supporting platform 8 and provide a basis for improving the shooting accuracy. The passive branch chain 13 limits the translational motion of the shipborne gun supporting platform 8 and the impact of the huge recoil force during launching.

[0050] The variable stiffness hydraulic buffer driving structure has the functions of motion compensation and variable stiffness buffer in different working modes, and the basic principle is as follows:

[0051] When the motion compensation function of the supporting platform 8 is realized, the hydraulic driving system is in working state, for example, under the control of the servo system, the hydraulic oil flows into the first chamber 30 from the first inlet and outlet port 22, at this time, the hydraulic oil of the second chamber 20 will flow into the hydraulic system through the second inlet and outlet port 21, at this time, the piston rod 29 moves to the right, and vice versa.

[0052] When the weapon station launches, the hydraulic driving system is in non-working state, and the first inlet and outlet port 22 and the second inlet and outlet port 21 pipeline are closed. Taking the branch chain three 11 as an example, at this time, under the action of the recoil force, the piston rod 29 of the branch chain three 11 will retract, and the hydraulic oil of the first chamber 30 will flow into the second chamber 20 through the damping hole 27 and the annular leakage port 28. Because the area ratio of the annular leakage port 29 is much smaller than the area of the piston rod, the speed of the hydraulic oil flowing through the annular leakage port 29 is very high, thereby generating a great resistance; at the same time, according to the small hole throttling principle, a pressure difference is formed on the left and right sides of the piston rod 29 after the hydraulic oil flows through the damping hole 27, which also has a buffering function. In addition, the second elastic element 26 is provided with a pre-pressure, and the second elastic element 26 is further compressed during the backward movement of the piston rod 29, at this time, the buffer device shows a single stiffness buffer; when the pressure on the second elastic element 26 is greater than the pre-pressure of the first elastic element 25, the connecting baffle 23 begins to move to the left, and the first elastic element 25 is compressed, at this time, the two-stage elastic elements form a series relationship, and the stiffness characteristic of the buffer device changes; during the recoil process, the second elastic element 26 and the first elastic element 25 push out the piston rod 29, at this time, the hydraulic oil flows from the second chamber 20 to the first chamber 30, and a large hydraulic resistance is formed; in this way, the shipborne gun system will quickly stabilize.

[0053] When the ship weapon station is in combat state, the elevation axis, the stabilizing compensation device and the rotation structure of the ship gun system work simultaneously to conduct stable sighting operation. When the weapon is in firing state, the hydraulic buffer driving device of the stabilizing compensation device is locked, the hydraulic circuit is closed, the system is in buffer state, and the elevation axis and the rotation system are also locked, preparing for shooting. The locking mode of the hydraulic buffer driving device can be realized by a servo reversing valve / electromagnetic reversing valve, as shown in Figure 7 When locking is needed, the control system sends a command, and the reversing valve is in the middle position. When the platform is in motion compensation, the reversing valve is in the left and right positions, and is switched according to the extension and retraction requirements.

[0054] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0055] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict.

Claims

1. A stable compensation device, characterized by, The utility model relates to a kind of compensation structures of stabilizing, including: Carrying platform (8), stabilizing compensation structure (2) and base (14); The stabilizing compensation structure (2) includes passive branch chain (13) and multiple drive branch chains, one end of the passive branch chain (13) is fixedly connected on the base (14), and the other end is connected with the carrying platform (8) by universal connecting piece;One end of part of the drive branch chain is connected on the base (14) by rotary pair, one end of part of the drive branch chain is connected in the base (14) by universal connecting piece;The other end of the drive branch chain is connected with the carrying platform (8) by spherical hinge, wherein the drive branch chain is arranged around the four around the passive branch chain (13); Multiple drive branch chains can drive the carrying platform (8) to carry out roll, pitch compensation movement, and can carry out variable stiffness buffering to the carrying platform (8); The drive branch chain includes: branch chain one (9), branch chain two (10), branch chain three (11) and branch chain four (12); The branch chain one (9), the branch chain two (10) and the branch chain four (12) are connected with the base (14) by rotary pair, and the branch chain three (11) is connected with the base (14) by universal hinge; The branch chain one (9) and the branch chain three (11) are symmetrically arranged, the branch chain two (10) and the branch chain four (12) are respectively located on the two sides of the branch chain one (9) and the branch chain three (11) line, and the line between the four branch chain hinge points constitutes parallelogram; The rotary pair axis of the branch chain one (9) and the branch chain two (10) is perpendicular to intersect, and the rotary pair axis of the branch chain one (9) and the branch chain three (11) is perpendicular to intersect.

2. The stable compensation device of claim 1, wherein The drive branch chain includes: cylinder body (24), piston rod (29), first elastic element (25), second elastic element (26) and connecting baffle (23); The piston rod (29) and the connecting baffle (23) are movably arranged in the cylinder body (24), and the inside space of the cylinder body (24) is divided into the first chamber (30) between the piston rod (29) and the connecting baffle (23), the second chamber (20) outside the piston rod (29) and the third chamber outside the connecting baffle (23); The first elastic element (25) is arranged in the third chamber, and the second elastic element (26) is arranged in the first chamber (30); The side wall of the first chamber (30) is provided with a first oil inlet and outlet (22), and the side wall of the second chamber (20) is provided with a second oil inlet and outlet (21).

3. The stable compensation device of claim 2, wherein The piston rod (29) includes a piston part and a rod part, the diameter of the piston part is smaller than the inner diameter of the cylinder body (24), so that the outer periphery of the piston part and the inner wall of the cylinder body (24) form an annular leakage (28).

4. The stable compensation device of claim 2, wherein The piston rod (29) includes a piston part and a rod part, and the piston part is axially provided with a damping hole (27) communicating the first chamber (30) and the second chamber (20).

5. The stable compensation device of claim 2, wherein The first elastic element (25) and the second elastic element (26) include springs.

6. The stable compensation device of claim 1, wherein The passive branch chain (13) is connected to the bearing platform (8) through a universal hinge (18), and the driving branch chain is connected to the bearing platform (8) through a spherical hinge (17).

7. The stable compensation device of claim 1, wherein The rotary structure (3) is further provided with a base (14) which is drivingly connected to the base (14) to drive the base (14) to rotate.

8. The stable compensation device of claim 7, wherein, The rotary structure (3) comprises a servo motor (31), a gear (32), a first fixing member (33), an inner support (36), an outer support (37), a second fixing member (38) and a supporting ball (39). An inner straight tooth (35) is arranged on the inner wall of the inner support (36), the output end of the servo motor (31) is connected to the inner straight tooth (35) through the gear (32), and the outer support (37) is rollingly connected to the inner support (36) through the supporting ball (39). The base (14) is fixedly connected to the outer support (37) through the second fixing member (38), and the inner support (36) is fixedly connected to an external object through the first fixing member (33).

9. An armament station, characterized in that The stable compensation device comprises a weapon body (1) and the stable compensation device according to any one of claims 1-8, and the weapon body (1) is connected to the bearing platform (8).

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