An unmanned ground combat platform based on electromagnetic clutch control

Abstract

The application discloses an unmanned ground combat platform based on electromagnetic clutch control, which comprises a vehicle frame, an engine, a walking mechanism, a transmission mechanism, a steering mechanism and a gun turret. The combat platform is designed based on single power flow, and the steering mechanism is controlled by using a clutch, so that greater specific power and speed can be obtained. The gear of the steering mechanism is connected with the main engine, and the main engine directly provides sufficient power for the gear and controls the gear by using an electromagnetic clutch, so that the rotating speed of the gear is greatly improved. In addition, the structure of a disc brake is used to improve the adjustable damping of the suspension, and the stability can be maintained when firing. The bottom of the vehicle is provided with a dead-stuck-preventing bull's eye bearing. The novel tracked unmanned combat platform has the characteristics of simple structure and low cost, and different gun turrets 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 advancement of technology and growing military needs, unmanned combat platforms have become a vital component of modern warfare. Tracked unmanned combat platforms, with their unique advantages, are playing an increasingly important role in battlefield reconnaissance, fire support, and material transportation. A tracked unmanned combat platform is an unmanned combat vehicle that utilizes a crawler-type walking mechanism. They possess superior off-road performance, load-bearing capacity, and firing stability, enabling them to perform combat missions in complex terrain and harsh environments. Tracked unmanned combat platforms are typically equipped with a variety of sensors, weapon systems, and communications equipment, enabling remote or autonomous control, providing troops with real-time battlefield information, fire support, and logistical support. In urban combat, where the fighting is more intense than in the field, the demand for unmanned weaponry is even more urgent.

[0003] At the same time, there are also 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 upper weapon station of the unmanned combat platform.

[0005] The technical solutions for achieving the purpose of the present invention are:

[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 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, and the large bevel gear is arranged on the transversely arranged clutch shaft to convert the longitudinal power input 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, and 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 teeth on the sprocket drive the crawler track to run; the brake system is used for braking and steering;

[0011] The steering gear includes a synchronous belt, a steering gear pulley shaft, a steering electromagnetic clutch, a steering gear 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 gear pulley shafts on the left and right sides respectively through two synchronous belts, the steering gear pulley shaft is connected to the input end of the steering electromagnetic clutch, and the output end of the steering electromagnetic clutch is connected to the steering gear gear shaft, and a small helical gear is provided on the steering gear gear shaft, and the two small helical gears are engaged with the large helical gear, so as 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, which is connected to the seat bearing to withstand radial force;

[0012] The gun turret is set on the top cover and connected to the gun turret basket for carrying 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 vehicle's off-road capability in ruins.

[0018] (5) The suspension lock 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 A top view of the transmission mechanism (traveling mechanism and steering gear) of the present invention (with circuit components removed);

[0021] Figure 3 Schematic diagram of the connection of the walking mechanism in the present invention;

[0022] Figure 4 Schematic diagram of the brake structure;

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

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

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] The unmanned ground combat platform based on electromagnetic clutch control of this 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 traveling 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 engaged with a large bevel gear 21. The large bevel gear 21 is provided on the horizontally arranged clutch shaft 20. The small bevel gear 17 drives the large bevel gear 21 to transmit to the clutch shaft 20 with 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 traveling mechanism is connected and secured by a shoulder and a flat key. The output end 1903 of the electromagnetic clutch is connected to the driving wheel shaft 23 and secured by a shoulder and a flat key. Its fixed end 1901 is bolted to the transmission frame 18, which is fixed to the vehicle frame 1. The driving wheel shaft 23 is equipped with a driving wheel 2 and a brake wheel 3301, both secured by a shoulder and a flat key. The driving wheel 2 is a sprocket, and the teeth on the sprocket drive the crawler track 5. The crawler track 5 is a conveyor chain connected by two grounding ribs. The driving wheel shaft 23 is equipped with a brake system 33, and the brake wheel 3301 is used for braking and steering. The brake system 33 comprises a brake wheel 3301, a brake band 3302, a winch disc 3304, a servo 3305, and a servo bracket 3306. The servo 3305 is fixed to the vehicle frame 1 via the servo bracket 3306. The output shaft of the servo 3305 is connected to the winch disc 3304 via a shoulder and a flat key. One end of the brake band 3302 is screwed to the winch disc 3304, and the other end passes through the brake wheel 3301 and is fixed to the brake band fixing hole 3303 on the transmission frame 18. The transmission frame 18 is fixed to the vehicle frame 1 via bolts and supports the driving wheel shaft 23 via a bearing seat. The brake system uses the servo 3305 to drive the winch disc 3304 to rotate, pulling the brake band 3302 around the brake disc 3301 to apply the brake. The brake band 3302 is made of asbestos copper wire, and the brake wheel 3301 is made of cast iron.

[0030] The running mechanism utilizes a Christie suspension, featuring a pair of adjustable idler wheels 6 mounted on the front of the vehicle frame 1. These idler wheels 6 are connected to idler shafts 30 via bearings, which are bolted to the vehicle frame 1. Four pairs of evenly spaced load-bearing wheels 4 are connected to load-bearing shafts 305 via bearings. Load-bearing shafts 305 are secured to balancing elbows 306 via interference fits and retaining rings. Balancing elbows 306 are also connected to sliding bearings 307 via interference fits, which are then connected to balancing elbow shaft bearing seats 308 via an optical axis. A shock absorber assembly 302 is bolted to the suspension's upper hardpoint support 301 and the balancing elbow 306. The upper hardpoint support 301 is also bolted to the vehicle frame 1. The first and last pairs have stiffer suspensions, while the middle two pairs have softer suspensions. This allows the vehicle to climb higher vertical walls and provides greater stability under rapid acceleration and deceleration. The above-mentioned idler wheel 6 and load-bearing wheel 4 are both clamped between the two conveyor chains of the crawler track 5 to prevent the chains from being derailed during walking.

[0031] When carrying weapons with less recoil, friction discs 31 can be set on the balance elbows 306 of the second pair of load-bearing wheels 4 corresponding to the rotation axis of the turret 12, and disc brakes 32 can be set at corresponding positions 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, which pulls a rocker arm 3202 to clamp the friction disc 31 to achieve locking. The cable 3201 is pulled by a steering gear and a code wheel, 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 through two synchronous belts 15 to one end of the horizontally arranged steering gear pulley shaft 24 on the left and right sides respectively. 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 a bolt. The steering gear clutch frame 26 is fixed to the vehicle 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 helical gear 28 with a 45-degree helix angle is arranged on the steering gear gear shaft 27 through a flat key and a shoulder. The two small helical gears 28 are meshed with the large helical gear 29, and the power is transmitted to the large helical gear 29 with a 45-degree helix angle 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 helical gear 29 is connected to the steering gear pad 37 and the gun turret basket 10 through a long screw. The steering gear pad 37 is used to prevent the large helical gear 29 from interfering with the small helical gear 28. A large helical gear spindle 36 is provided in the middle of the steering gear large helical gear 29 through an interference fit, which is used to connect to the seat bearing 38.

[0036] Several bearing bolts 35 are evenly arranged on the outer circle of the 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 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 gear can be controlled by closing and closing the two steering gear 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 gear.

[0038] When the steering gear needs to be precisely aimed, the electromagnetic clutch is given a voltage lower than the rated voltage by using PWM waves 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 gear uses a copper ring as the 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 gear from being removed from the top. Due to the high sliding speed of the staggered gear transmission, the mechanical efficiency is low. When subjected to external forces such as shooting vibration, the large bevel gear 29 drives the two small bevel gears 28 at the same time. In addition, the friction coefficient of the turret sliding bearing 34 is large, which can achieve a self-locking effect and achieve azimuth stability during shooting. In addition, the two steering gear clutches 25 can be semi-coupled at the same time, and the voltage of the two steering gear clutches 25 can be controlled simultaneously using PID to perform low-speed, high-load-carrying rotation return, so as to achieve closed-loop control and stabilize the azimuth.

[0040] In order to increase the actual diameter of the turret basket 10 and reduce the mass of the steering gear's large bevel gear 29, this design utilizes a smaller steering gear's large bevel gear 29, located at the bottom of the turret basket 10. However, this results in the radial force of the driven gear (large bevel gear 29) being converted into a torque couple, severely impacting the load-bearing capacity of the turret sliding bearing 34. To address this issue, a floating deep-groove ball seated bearing 38 is placed with a clearance fit at the bottom of the large bevel gear 29. This allows it to bear most of the radial force of the gear with a smaller lever arm, while the axial force of the large bevel gear 29 is entirely borne by the top turret sliding bearing 34. Because the top turret sliding bearing 34 has a certain amount of clearance when bearing bidirectional axial forces, a floating structure is used to compensate, preventing the bottom seated bearing 38 from bearing axial forces.

[0041] The angle between the elevation mechanism rotation plane and the steering mechanism rotation plane is less than 90 degrees, that is, the elevation mechanism 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 provided on the bottom plate 39, which are connected by bolts. This can greatly reduce the movement resistance when supporting the bottom on a hard road and prevent it from getting stuck.

[0043] The turret 12 is a modular component that 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 side of the barrel end of the barrel weapon 1206 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. Above the turret guard ring 1201 is a turret base 1202, 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 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 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, and the large bevel gear is arranged on the transversely arranged clutch shaft to convert the longitudinal power input 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, and 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 teeth on the sprocket drive the crawler track to run; the brake system is used for braking and steering; The steering gear includes a synchronous belt, a steering gear pulley shaft, a steering electromagnetic clutch, a steering gear gear shaft, a small helical gear, a large helical gear, a turret hanging basket, bearing bolts, and a turret sliding bearing; the driving gear shaft is respectively transmitted to the horizontally arranged steering gear pulley shafts on the left and right sides through two synchronous belts; the steering gear pulley shaft is connected to the input end of the steering electromagnetic clutch; the output end of the steering electromagnetic clutch is connected to the steering gear gear shaft; a small helical gear is provided on the steering gear gear shaft; the two small helical gears are meshed with the large helical gear, and are used to convert the longitudinal power input into the vertical power output; the large helical gear is connected to the turret hanging basket; a plurality of bearing bolts are evenly distributed on the outer circle of the turret hanging basket; the tops of the bearing bolts directly contact the top cover on the frame to withstand the upward force of the turret; The steering gear is equipped with a large helical gear spindle, which is used to connect with the seat bearing to withstand radial force; The gun turret is set on the top cover and connected to the gun turret basket for carrying the required weapons.

2. The unmanned ground combat platform based on electromagnetic clutch control according to claim 1, characterized in that: The front part of the frame is provided with a pair of adjustable inducer wheels, and the bottom part is provided with four pairs of evenly distributed load-bearing wheels. The load-bearing wheels are connected to the load-bearing wheel axles through bearings. The load-bearing wheel axles are fixed on 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. A suspension hard point support is provided on the frame, 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 to the vehicle frame, and the steering gear output shaft 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 to the vehicle 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: Friction discs are provided on the balance elbows of the second pair of load-bearing wheels corresponding to the axis of rotation of the turret. When the barreled weapon is fired sideways, the balance elbows of the second pair of load-bearing wheels are 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 set 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 of the barrel weapon.

8. The unmanned ground combat platform based on electromagnetic clutch control according to claim 1, characterized in that: The angle between the elevation gear rotation plane and the steering gear 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 side of the barrel of the barrel weapon to allow the vehicle to observe targets behind the wall.

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

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