Unmanned ground combat platform based on electromagnetic clutch control

Abstract

The invention discloses an unmanned ground combat platform based on electromagnetic clutch control. The unmanned ground combat platform comprises a frame, an engine, a walking mechanism, a transmission mechanism, a steering gear box and a gun tower. The combat platform is designed based on single power flow, steering is controlled through the clutch, large specific power can be obtained, and therefore the large vehicle speed is obtained. The steering gear is connected with the main engine, the main engine is used for directly providing sufficient power for the steering gear, the electromagnetic clutch is used for control, and therefore the rotating speed of the steering gear is greatly increased. In addition, the structure of the disc brake is used for improving adjustable damping for suspension, and stability can be kept during firing. And an anti-locking bull eye bearing is arranged at the bottom of the vehicle. The novel crawler-type unmanned combat platform has the advantages of being simple in structure and low in cost, and different gun towers can be replaced according to different combat requirements.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned combat platforms, and in particular relates to an unmanned ground combat platform based on electromagnetic clutch control. Background Art

[0002] With the rapid development of science and technology and the growing military needs, unmanned combat platforms have become an important part of modern warfare. Among them, tracked unmanned combat platforms, with their unique advantages, play an increasingly important role in battlefield reconnaissance, fire support, material transportation and other fields. A tracked unmanned combat platform is an unmanned combat vehicle that uses a tracked walking mechanism. It has high off-road performance, carrying capacity and shooting stability, and can perform combat missions in complex terrain and harsh environments. Tracked unmanned combat platforms are usually equipped with a variety of sensors, weapon systems and communication equipment, which can be remotely controlled or autonomously controlled to provide troops with real-time battlefield information, fire support and logistics support. In street fighting, because the fighting is more intense than in the wild, the demand for unmanned weapons and equipment is more urgent.

[0003] At the same time, there are many unmanned combat platforms in the existing technology, but they have various problems, such as high cost, slow speed, low steering speed and lack of flexibility, inability to carry weapons with large recoil, and the chassis is easily stuck when crossing ruins, etc., which leads to them not being widely used. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned ground combat platform based on electromagnetic clutch control to achieve high-speed movement of the chassis and the upper weapon station of the unmanned combat platform.

[0005] The technical solution to achieve the purpose of the present invention is:

[0006] An unmanned ground combat platform based on electromagnetic clutch control, characterized by comprising:

[0007] The frame is used to install the engine, running mechanism, transmission mechanism, steering gear, and turret;

[0008] The engine is the same power unit as the traveling mechanism and the steering gear;

[0009] The walking mechanism adopts track wheel structure;

[0010] The transmission mechanism includes a coupling, a driving gear shaft, a small bevel gear, a large bevel gear, a clutch shaft, a walking mechanism electromagnetic clutch, and a driving wheel shaft; the engine is connected to the longitudinally arranged driving gear shaft through the coupling, the small bevel gear is connected to the driving gear shaft and meshes with the large bevel gear, the large bevel gear is arranged on the transversely arranged clutch shaft, and the longitudinal power input is converted into a transverse power output; the two ends of the clutch shaft are respectively connected to the input end of a walking mechanism electromagnetic clutch, the output end of the walking mechanism electromagnetic clutch is connected to the driving wheel shaft, and the driving wheel shaft is provided with a driving wheel and a brake system, wherein the driving wheel is a sprocket, and the crawler track is driven to run through the teeth on the sprocket; the brake system is used for braking and steering;

[0011] A steering machine, comprising a synchronous belt, a steering machine pulley shaft, a steering electromagnetic machine clutch, a steering machine gear shaft, a small helical gear, a large helical gear, a turret hanging basket, a bearing bolt, and a turret sliding bearing; the driving gear shaft is transmitted to the horizontally arranged steering machine pulley shafts on the left and right sides respectively through two synchronous belts, the steering machine pulley shaft is connected to the input end of the steering electromagnetic machine clutch, the output end of the steering electromagnetic clutch is connected to the steering machine gear shaft, a small helical gear is arranged on the steering machine gear shaft, and the two small helical gears are meshed with the large helical gear to convert the longitudinal power input into the vertical power output; the large helical gear is connected to the turret hanging basket, and a plurality of bearing bolts are evenly distributed on the outer circle of the turret hanging basket, and the top of the bearing bolt directly contacts the top cover on the frame to withstand the upward force of the turret; the large helical gear of the steering machine is provided with a large helical gear spindle to be connected with the seat bearing to withstand radial force;

[0012] The gun turret is set on the top cover and connected to the gun turret basket to carry the required weapons.

[0013] Compared with the prior art, the present invention has the following significant advantages:

[0014] (1) By tilting the elevation gear, it is possible to maintain a certain directional range when the steering gear fails.

[0015] (2) The steering gear can be turned quickly by engaging and disengaging the steering gear clutch.

[0016] (3) The vehicle can move in a straight line and turn by engaging and disengaging the running mechanism clutch.

[0017] (4) The bull's eye bearing on the bottom plate can improve the off-road capability of the vehicle in ruined terrain.

[0018] (5) The suspension locking function can be achieved by cooperating with the disc brake installed on the frame and the disc brake pad on the balance arm, and the suspension damping can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 It is a top view of the transmission mechanism (travel mechanism and steering gear) of the present invention (circuit components have been removed);

[0021] Figure 3 It is a connection diagram of the walking mechanism in the present invention;

[0022] Figure 4 This is a schematic diagram of the brake structure;

[0023] Figure 5 It is a schematic diagram of the arrangement of the steering gear and the elevation gear in the present invention;

[0024] Figure 6 It is a schematic diagram of the arrangement of the bull's eye bearing in the present invention; DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0026] The unmanned ground combat platform based on electromagnetic clutch control of the present embodiment is composed of a frame 1 and an engine, a traveling mechanism, a transmission mechanism, a steering gear, and a turret 12 arranged on the frame.

[0027] The engine is a high-power brushless motor 13, which is fixed to the vehicle frame by bolts.

[0028] The transmission mechanism is of single power flow design, and includes a coupling 14 , a driving gear shaft 16 , a small bevel gear 17 , a large bevel gear 21 , a clutch shaft 20 , a walking mechanism electromagnetic clutch 19 , and a driving wheel shaft 23 .

[0029] The longitudinally arranged brushless motor 13 is connected to the longitudinally arranged driving gear shaft 16 through a coupling 14. A small bevel gear 17 is provided on the driving gear shaft 16, which is fixed by a flat key and a shaft end retaining ring. The small bevel gear 17 is meshed with a large bevel gear 21. The large bevel gear 21 is arranged on a horizontally arranged clutch shaft 20. The small bevel gear 17 drives the large bevel gear 21 to transmit to the clutch shaft 20 at a certain transmission ratio. The bevel gear 21 and the clutch shaft 20 are fixed by a flat key and a shaft ring. The two ends of the clutch shaft 20 are respectively connected to a The input end 1902 of the electromagnetic clutch 19 of the walking mechanism is connected, and is fixed by a shoulder and a flat key. The output end 1903 of the electromagnetic clutch of the walking mechanism is connected to the driving wheel shaft 23, and is fixed by a shoulder and a flat key. Its fixed end 1901 is fixed to the transmission frame 18 by bolts. The transmission frame 18 is fixed on the frame 1. The driving wheel shaft 23 is provided with a driving wheel 2 and a brake wheel 3301, both of which are fixed by a shoulder and a flat key. The driving wheel 2 is a sprocket, and the teeth on the sprocket drive the crawler 5 to run. The crawler 5 is a conveyor chain connected by two grounding ribs. The driving wheel shaft 23 is provided with a brake system 33, wherein the brake wheel 3301 is used for braking and steering. The brake system 33 includes a brake wheel 3301, a brake belt 3302, a winch code disc 3304, a steering gear 3305, and a steering gear bracket 3306; the steering gear 3305 is fixed to the frame 1 through the steering gear bracket 3306, the output shaft of the steering gear 3305 is connected to the winch code disc 3304 through a shoulder and a flat key, one end of the brake belt 3302 is connected to the winch code disc 3304 through a screw, and the other end bypasses the brake wheel 3301 and is fixedly connected to the brake belt fixing hole 3303 on the transmission frame 18, the transmission frame 18 is fixed to the frame 1 through bolts, and supports the driving wheel shaft 23 through the bearing seat. The brake system uses the steering gear 3305 to drive the winch code disc 3304 to rotate, and pulls the brake belt 3302 to wrap around the brake disc 3301 for braking. The brake belt 3302 is an asbestos copper belt, and the brake wheel 3301 is made of cast iron.

[0030] The walking mechanism adopts Christie suspension, with a pair of induction wheels 6 installed at the front of the frame 1 at an adjustable position, the induction wheels 6 are connected to the induction wheel shaft 30 through bearings, and the induction wheel shaft 30 is fixed to the frame 1 through bolts. There are four pairs of evenly distributed load-bearing wheels 4 at the bottom of the frame 1, the load-bearing wheels 4 are connected to the load-bearing wheel shaft 305 through bearings, the load-bearing wheel shaft 305 is fixed to the balance elbow 306 through interference fit and retaining rings, the balance elbow 306 is connected to the sliding bearing 307 through interference fit, and the sliding bearing 307 is connected to the balance elbow shaft bearing seat 308 through an optical axis. The shock absorber kit 302 is connected to the suspension upper hard point support 301 and the balance elbow 306 through bolts, and the suspension upper hard point support 301 is connected to the frame 1 through bolts. Among them, the first pair and the last pair of suspensions are harder, and the middle two pairs of suspensions are softer. In this way, it can climb over higher vertical walls and is more stable under the conditions of rapid acceleration and deceleration. The above-mentioned induction wheel 6 and load-bearing wheel 4 are both clamped between the two conveying chains of the crawler track 5 to prevent the chains from coming off during walking.

[0031] When carrying a weapon with less recoil, a friction disc 31 can be set on the balance elbow 306 of the second pair of load-bearing wheels 4 corresponding to the rotation axis of the turret 12, and a disc brake 32 can be set at a corresponding position on the frame 1. When the barreled weapon 1206 is fired sideways, it can be locked to prevent the vehicle from shaking.

[0032] When carrying heavy weapons with large recoil, friction discs 31 can be set on the balance elbows 306 of the first and last pairs of load-bearing wheels, and disc brakes 32 can be set at corresponding positions on the frame 1. When the barreled weapon 1206 is fired in any direction, it can be locked to prevent the vehicle from shaking.

[0033] The disc brake 32 is controlled by a cable 3201, and the cable 3201 pulls the rocker arm 3202 to clamp the friction disc 31 to achieve locking. The cable 3201 is pulled by a steering gear and a code disc, and the steering gear is arranged on the frame 1 through a bracket.

[0034] The disc brake 32 structure can also control the suspension damping during driving to achieve the effect of slow active suspension.

[0035] The steering gear is a high-speed steering gear, and its power is first transmitted from the driving gear shaft 16 to one end of the horizontally arranged steering gear pulley shaft 24 on the left and right sides through two synchronous belts 15. The other end of the steering gear pulley shaft 24 is connected to the input end of the steering electromagnetic clutch 25 through a flat key and a set screw. The fixed end of the steering electromagnetic clutch 25 is connected to the steering gear clutch frame 26 through bolts. The steering gear clutch frame 26 is fixed to the frame 1 through bolts. The output end of the steering electromagnetic clutch is connected to the steering gear gear shaft 27 through a flat key and a shoulder. A small bevel gear 28 with a helix angle of 45 degrees is arranged on the steering gear gear shaft 27 through a flat key and a shoulder. The two small bevel gears 28 are meshed with a large bevel gear 29. The power is transmitted to the large bevel gear 29 with a helix angle of 45 degrees at the bottom of the steering gear through a staggered gear transmission pair. The teeth of the three gears have the same rotation direction. The steering gear large bevel gear 29 is connected to the steering gear pad 37 and the gun turret basket 10 through a long screw, and the steering gear pad 37 is used to prevent the large bevel gear 29 from interfering with the small bevel gear 28. A large bevel gear spindle 36 is provided in the middle of the steering gear large bevel gear 29 through interference fit, which is used to connect with the seat bearing 38.

[0036] Several bearing bolts 35 are evenly arranged on the outer circle of the gun turret basket 10 and fixed by nuts inside the basket 10. The tops of the bearing bolts 35 directly contact the top cover 9 on the frame 1 to withstand the upward force of the gun turret 12.

[0037] When the motor rotates, the two small bevel gears 28 also rotate in the same direction. Therefore, it can be judged that when the two small bevel gears 28 rotate separately, the direction of the large bevel gear 29 is opposite. At this time, the direction of the steering machine can be controlled by closing and closing the two steering machine clutches 25. When the main engine reverses, the control logic of the two electromagnetic clutches can be exchanged through the control system to achieve continuous control of the steering machine.

[0038] When the steering gear needs to be precisely aimed, the PWM wave is used to give the electromagnetic clutch a voltage lower than the rated voltage through the motor driver 8 (used to drive the electromagnetic clutch), so that it forms a semi-linkage and can then rotate at a lower speed.

[0039] The upper bearing of the steering machine uses a copper ring as a turret sliding bearing 34. The turret sliding bearing 34 is located between the top cover 9 and the turret hanging basket 10. The turret sliding bearing 34 has an interference fit with the top cover 9 and a clearance fit with the turret hanging basket 10, and is lubricated with grease. The turret hanging basket 10 uses a bearing bolt 35 to limit the upward displacement to prevent the steering machine from being taken out from the top. Due to the high sliding speed of the staggered gear transmission, the mechanical efficiency is low, and when subjected to external forces such as shooting vibration, the large bevel gear 29 drives two small bevel gears 28 at the same time, and the friction coefficient of the turret sliding bearing 34 is large, which can achieve a similar self-locking effect and achieve the stability of the azimuth during shooting. In addition, the two steering machine clutches 25 can be semi-linked at the same time, and the voltage of the two steering machine clutches 25 can be controlled by pid at the same time to rotate back to the right position with low speed and large load capacity, so as to achieve closed-loop control to stabilize the azimuth.

[0040] In order to increase the actual diameter of the turret basket 10 and reduce the mass of the large bevel gear 29 of the steering gear, this design uses a smaller large bevel gear 29 of the steering gear to be arranged at the bottom of the turret basket 10. However, this will cause the radial force of the driven gear (large bevel gear 29) to be converted into a force couple, which seriously affects the load-bearing capacity of the turret sliding bearing 34. In order to solve this problem, a floating deep groove ball seat bearing 38 is arranged at the bottom of the large bevel gear 29 with a clearance fit, so that it can bear most of the radial force of the gear with a smaller force arm, while the axial force of the large bevel gear 29 is completely borne by the top turret sliding bearing 34. Since the top turret sliding bearing 34 will have a certain clearance when bearing the bidirectional axial force, a floating structure is used to compensate for it, so as to avoid the bottom seat bearing 38 from bearing the axial force.

[0041] The included angle between the elevation machine rotation plane and the steering machine rotation plane is less than 90 degrees, that is, the elevation machine is tilted.

[0042] A bottom plate 39 is arranged at the bottom of the frame 1, and several rows of bull's eye bearings 40 or rollers are arranged on the bottom plate 39, which are connected by bolts, so that the movement resistance can be greatly reduced when supporting the bottom on a hard road surface to prevent jamming.

[0043] The turret 12 is a modular component and can be quickly replaced with a 5.8 / 7.62 / 12.7mm rifle or machine gun, or a light anti-tank missile or recoilless gun according to combat requirements.

[0044] A camera 1207 can be arranged on each of the left and right ends of the barrel of the barrel weapon 1206, so as to be used by the vehicle to observe targets behind the wall.

[0045] The turret 12 is connected to the turret basket 10 by bolts, and a turret guard ring 1201 is arranged at the connection to protect the internal device. The turret base 1202 is located above the turret guard ring 1201, and the turret guard ring 1201 is located at the upper end of the top cover 9; an elevation machine support frame 1203 is fixed to the turret base 1202 by screws, and an elevation machine reduction motor 1204 is arranged inside, and the elevation machine reduction motor 1204 is arranged on the inclined plate of the elevation machine support frame 1203. The output shaft of the elevation machine reduction motor 1204 is connected to the elevation machine turret 1205, which is used to simultaneously adjust the height and direction shooting angle of the barrel weapon 1206.

Claims

1. An unmanned ground combat platform based on electromagnetic clutch control, characterized in that: include: The frame is used to install the engine, running mechanism, transmission mechanism, steering gear, and turret; The engine is the same power unit as the traveling mechanism and the steering gear; The walking mechanism adopts track wheel structure; The transmission mechanism includes a coupling, a driving gear shaft, a small bevel gear, a large bevel gear, a clutch shaft, a walking mechanism electromagnetic clutch, and a driving wheel shaft; the engine is connected to the longitudinally arranged driving gear shaft through the coupling, the small bevel gear is connected to the driving gear shaft and meshes with the large bevel gear, the large bevel gear is arranged on the transversely arranged clutch shaft, and the longitudinal power input is converted into a transverse power output; the two ends of the clutch shaft are respectively connected to the input end of a walking mechanism electromagnetic clutch, the output end of the walking mechanism electromagnetic clutch is connected to the driving wheel shaft, and the driving wheel shaft is provided with a driving wheel and a brake system, wherein the driving wheel is a sprocket, and the crawler track is driven to run through the teeth on the sprocket; the brake system is used for braking and steering; A steering machine, comprising a synchronous belt, a steering machine pulley shaft, a steering electromagnetic machine clutch, a steering machine gear shaft, a small helical gear, a large helical gear, a turret hanging basket, a bearing bolt, and a turret sliding bearing; the driving gear shaft is respectively transmitted to the horizontally arranged steering machine pulley shafts on the left and right sides through two synchronous belts, the steering machine pulley shaft is connected to the input end of the steering electromagnetic machine clutch, the output end of the steering electromagnetic clutch is connected to the steering machine gear shaft, a small helical gear is arranged on the steering machine gear shaft, and the two small helical gears are meshed with the large helical gear to convert the longitudinal power input into the vertical power output; the large helical gear is connected to the turret hanging basket, and a plurality of bearing bolts are evenly distributed on the outer circle of the turret hanging basket, and the top of the bearing bolts directly contacts the top cover on the frame to withstand the upward force of the turret; The large helical gear of the steering gear is provided with a large helical gear spindle for connecting with the seat bearing to bear radial force; The gun turret is set on the top cover and connected to the gun turret basket to carry the required weapons.

2. The unmanned ground combat platform based on electromagnetic clutch control according to claim 1, characterized in that: The frame is provided with a pair of adjustable inducer wheels at the front, and four pairs of evenly distributed load-bearing wheels at the bottom. The load-bearing wheels are connected to the load-bearing wheel axles through bearings, and the load-bearing wheel axles are fixed to the balancing elbow. The balancing elbow is connected to the sliding bearing, and the sliding bearing is connected to the balancing elbow axle bearing seat through an optical axis. The frame is provided with a suspension hard point support, and a shock absorber kit is provided between the suspension hard point support and the balancing elbow.

3. The unmanned ground combat platform based on electromagnetic clutch control according to claim 2, characterized in that: The suspension stiffness corresponding to the first and last pairs of load-bearing wheels is greater than the suspension stiffness corresponding to the middle two pairs of load-bearing wheels.

4. The unmanned ground combat platform based on electromagnetic clutch control according to claim 1, characterized in that: The brake system includes a brake wheel, a brake belt, a winch code disc, a steering gear, and a steering gear bracket; the steering gear is fixed on the frame, and the output shaft of the steering gear 5 is connected to the winch code disc; one end of the brake belt is connected to the winch code disc, and the other end passes around the brake wheel and is fixedly connected to the brake belt fixing hole on the transmission frame; the transmission frame is fixed on the frame and supports the driving wheel shaft through the bearing seat.

5. The unmanned ground combat platform based on electromagnetic clutch control according to claim 4, characterized in that: A friction disc is provided on the balance elbow of the second pair of load-bearing wheels corresponding to the rotation axis of the turret. When the barreled weapon is fired sideways, the balance elbow of the second pair of load-bearing wheels is locked to prevent the vehicle from shaking.

6. The unmanned ground combat platform based on electromagnetic clutch control according to claim 4, characterized in that: Friction discs are provided on the balance elbows of the first and last pairs of load-bearing wheels. When the barreled weapon is fired in any direction, the balance elbows of the first and last pairs of load-bearing wheels are locked to prevent the vehicle from shaking.

7. The unmanned ground combat platform based on electromagnetic clutch control according to claim 1, characterized in that: A turret guard ring is arranged at the connection between the turret and the turret basket, and the turret base is located above the turret guard ring, and the turret guard ring is located at the upper end of the top cover; an elevation machine support frame is fixed on the turret base, and an elevation machine reduction motor is arranged inside, and the elevation machine reduction motor is arranged on the inclined plate of the elevation machine support frame. The output shaft of the elevation machine reduction motor is connected to the elevation machine turret, which is used to simultaneously adjust the height and direction shooting angle of the barrel weapon.

8. The unmanned ground combat platform based on electromagnetic clutch control according to claim 1, characterized in that: The included angle between the elevation machine rotation plane and the steering machine rotation plane is less than 90 degrees.

9. The unmanned ground combat platform based on electromagnetic clutch control according to claim 1, characterized in that: A camera can be arranged on each of the left and right ends of the barrel of the barrel weapon, so that the vehicle can observe the target behind the wall.

10. The unmanned ground combat platform based on electromagnetic clutch control according to claim 1, characterized in that: A bottom plate is arranged at the bottom of the frame, and multiple rows of bull's eye bearings or rollers are arranged on the bottom plate.

Images