Small full-automatic loading machine and control system thereof

Abstract

The invention belongs to the technical field of military equipment, and particularly relates to a small full-automatic loading machine and a control system thereof.The small full-automatic loading machine is characterized in that clamping force data of a clamping device within the use time of the small full-automatic loading machine is acquired, and a state signal of the clamping device is obtained through analysis according to the clamping force data; vibration data of a transmission system within the use time of the small full-automatic loading machine are obtained, a vibration influence value is obtained according to the vibration data, and a transmission system state signal is obtained based on analysis of the vibration influence value; according to the state signal of the clamping device and the state signal of the transmission system, the operation state of the small full-automatic loading machine can be intelligently judged, the speed of finding loading fault problems is high, the control degree is high, and whether the clamping force value of the clamping device is abnormal due to the abnormal vibration of the transmission system or not can be intelligently judged in combination with data; and the small full-automatic loading machine can be conveniently controlled and adjusted.

Description

Technical Field

[0001] The invention belongs to the technical field of military equipment, in particular to a small full-automatic loader and a control system thereof. Background Art

[0002] With the continuous development of science and technology, the functions of control systems will become more and more powerful and the performance will become more and more stable. Small automatic loader is an automated device used in modern artillery or tank weapon systems. Failures of small automatic loader during use are generally caused by problems with the clamping device and the transmission system.

[0003] The existing small fully automatic loader and its control system cannot intelligently determine the cause of the failure based on the parameters during use when a failure occurs during operation, cannot intelligently determine the operating status of the various components of the small fully automatic loader, cannot intelligently and accurately determine the cause of the failure of the small fully automatic loader, and is not convenient for controlling and adjusting the small fully automatic loader.

[0004] Therefore, the present invention provides a small-sized fully automatic loading machine and a control system thereof. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The technical solution adopted by the present invention to solve the technical problem is:

[0007] Data acquisition module: obtains the clamping force data of the clamping device during the use time of the small fully automatic loader, and obtains the clamping device status signal according to the clamping force data analysis; wherein the clamping device status signal includes a qualified clamping signal and an unqualified clamping signal;

[0008] Acquire vibration data of the transmission system of the small fully automatic loader during use, obtain a vibration impact value according to the vibration data, and obtain a transmission system status signal based on the vibration impact value analysis; wherein the transmission system status signal includes a normal transmission signal and an abnormal transmission signal;

[0009] Processing module: based on the qualified clamping signal and the normal transmission signal, generates a normal signal, indicating that the loader is operating normally and no adjustment is required;

[0010] Based on the qualified clamping signal and the transmission abnormality signal, a transmission system abnormality signal is generated, and the transmission system needs to be regulated;

[0011] Based on the unqualified clamping signal and the normal transmission signal, it is generated that the clamping device is abnormal and needs to be regulated;

[0012] Analysis module: Based on the unqualified clamping signal and the transmission abnormality signal, the use time of the small automatic loader is taken as the analysis object, and the influence relationship between the clamping force data and the vibration data of the small automatic loader is analyzed to obtain the state overflow influence signal;

[0013] Control module: Control the corresponding equipment based on the abnormal signal type.

[0014] Furthermore, the clamping force data of the clamping device during the use time of the small fully automatic loader is obtained, and the clamping device status signal is obtained according to the clamping force data analysis, specifically:

[0015] A collection cycle is set to collect the real-time clamping force during the use of the small fully automatic loader to obtain the real-time clamping force value of the small fully automatic loader; if the time during which the real-time clamping force value of the small fully automatic loader is greater than the maximum value of the clamping force threshold exceeds a preset time; or the time during which the real-time clamping force value of the small fully automatic loader is less than or equal to the minimum value of the clamping force threshold exceeds a preset time, it indicates that the clamping force during the use of the small fully automatic loader is abnormal, and an unqualified clamping signal is generated; otherwise, a qualified clamping signal is generated.

[0016] Furthermore, the specific method of obtaining the vibration impact value is:

[0017] Divide the collection cycle of the small fully automatic loader into several collection time periods;

[0018] The vibration value of the transmission system in each collection time period is collected by a vibration sensor, and all the vibration values ​​in each time period are summed and averaged to obtain the vibration mean value;

[0019] The vibration mean values ​​of all acquisition time periods are integrated, and the vibration variance value of the small automatic loader within the acquisition period is obtained through the variance calculation formula.

[0020] The vibration mean value in the acquisition period of the small fully automatic loader and the standard vibration threshold value of the small fully automatic loader are calculated by difference between the vibration mean value and the standard vibration threshold value to obtain a vibration deviation value, and then the ratio of the vibration deviation value to the standard vibration threshold value is obtained to obtain the vibration deviation ratio when the small fully automatic loader is in use;

[0021] The product of the vibration variance value and the vibration deviation value during the acquisition period of the small automatic loader is obtained and marked as the vibration impact value.

[0022] Furthermore, the standard vibration threshold of the small fully automatic loader is obtained according to the factory parameter information of the transmission system.

[0023] Furthermore, the transmission system status signal is specifically obtained in the following manner:

[0024] Compare the vibration impact value of the small fully automatic loader with a preset vibration impact threshold;

[0025] If the vibration impact value of the small fully automatic loader is greater than the preset vibration impact threshold, a transmission abnormality signal is generated;

[0026] If the vibration impact value of the small fully automatic loader is less than or equal to the preset vibration impact threshold, a transmission normal signal is generated.

[0027] Furthermore, the influence relationship between the clamping force data and vibration data of the small fully automatic loader is analyzed, specifically:

[0028] The real-time clamping force value and the real-time vibration value of the small automatic loader are obtained during the use of the small automatic loader, the use time of the small automatic loader is used as the X-axis, the real-time clamping force value and the real-time vibration value of the small automatic loader are used as the Y-axis, the clamping force curve of the small automatic loader is constructed with the real-time clamping force value, and the vibration curve is constructed with the real-time vibration value to establish a two-dimensional coordinate system;

[0029] Draw a straight line parallel to the X-axis with the minimum clamping force threshold and the maximum clamping force threshold respectively, mark the area where the clamping force curve is above the straight line of the maximum clamping force threshold as the over-force area, and mark the area where the clamping force curve is below the straight line of the minimum clamping force threshold as the low-force area.

[0030] Furthermore, the duration of the over-force area and the duration of the low-force area are summed to obtain the abnormal support force duration YCT and the abnormal force start time LT.

[0031] Furthermore, a straight line parallel to the X-axis is drawn with the standard vibration threshold, and the area where the vibration curve is above the standard vibration threshold straight line is marked as the over-vibration area;

[0032] Get the time period corresponding to the earthquake area, get the duration GZT of the earthquake area and the start time ZT of the earthquake.

[0033] Furthermore, the abnormal support force duration YCT and the duration of the overshock area GZT, and the abnormal force start time LT and the overshock start time ZT are compared respectively; specifically:

[0034] If the abnormal holding force duration YCT is less than the duration of the over-vibration area GZT and the abnormal force start time LT is later than the over-vibration start time ZT, it indicates that the vibration causes the clamping force to be abnormal, and a state overflow influence signal is generated, and the transmission system of the small automatic loader is regulated to make the small automatic loader operate normally;

[0035] On the contrary, a bidirectional adjustment signal is generated, indicating that there are problems with both the supporting device and the transmission system, and both the supporting device and the transmission system need to be adjusted.

[0036] A small fully automatic loader adopts the control system of a small fully automatic loader as described in any one of claims 1-9.

[0037] The beneficial effects of the present invention are as follows:

[0038] 1. A small-sized fully automatic loader and its control system described in the present invention obtains the clamping force data of the clamping device during the use time of the small-sized fully automatic loader, and obtains the clamping device status signal according to the clamping force data analysis; obtains the vibration data of the transmission system during the use time of the small-sized fully automatic loader, obtains the vibration impact value according to the vibration data, and obtains the transmission system status signal based on the vibration impact value analysis; according to the clamping device status signal and the transmission system status signal, the operating status of the small-sized fully automatic loader can be intelligently judged, thereby improving the speed of discovering loading fault problems.

[0039] 2. The small fully automatic loader and its control system described in the present invention can further determine whether the abnormal clamping force value of the clamping device is caused by the abnormal vibration of the transmission system based on the unqualified clamping signal and the abnormal transmission signal. If a state overflow affecting signal is generated, it is only necessary to adjust the transmission system of the small fully automatic loader to enable the small fully automatic loader to operate normally. It can intelligently and accurately determine the cause of the failure of the small fully automatic loader, which is convenient for controlling and adjusting the small fully automatic loader. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below in conjunction with the accompanying drawings.

[0041] Figure 1 It is a system principle diagram of the control system of the small-sized fully automatic loader of the present invention;

[0042] Figure 2 It is a schematic diagram of the principle of the analysis module of the present invention. DETAILED DESCRIPTION

[0043] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0044] Example 1

[0045] like Figure 1-Figure 2 As shown, a control system of a small fully automatic loader includes

[0046] Data acquisition module: obtains the clamping force data of the clamping device during the use time of the small fully automatic loader, and obtains the clamping device status signal according to the clamping force data analysis; wherein the clamping device status signal includes a qualified clamping signal and an unqualified clamping signal;

[0047] Acquire vibration data of the transmission system of the small fully automatic loader during use, obtain a vibration impact value according to the vibration data, and obtain a transmission system status signal based on the vibration impact value analysis; wherein the transmission system status signal includes a normal transmission signal and an abnormal transmission signal;

[0048] Processing module: based on the qualified clamping signal and the normal transmission signal, generates a normal signal, indicating that the loader is operating normally and no adjustment is required;

[0049] Based on the qualified clamping signal and the transmission abnormality signal, a transmission system abnormality signal is generated, and the transmission system needs to be regulated;

[0050] Based on the unqualified clamping signal and the normal transmission signal, it is generated that the clamping device is abnormal and needs to be regulated;

[0051] Analysis module: Based on the unqualified clamping signal and the transmission abnormality signal, the use time of the small automatic loader is taken as the analysis object, and the influence relationship between the clamping force data and the vibration data of the small automatic loader is analyzed to obtain the state overflow influence signal;

[0052] Control module: Control the corresponding equipment based on the abnormal signal type.

[0053] Problems with the clamping device and transmission system should be adjusted, replaced or repaired according to actual conditions.

[0054] Based on the unqualified clamping signal and transmission abnormality signal, the use time of the small automatic loader is taken as the analysis object, the influence relationship between the clamping force data and vibration data of the small automatic loader is analyzed, and the state overflow influence signal is obtained;

[0055] According to the state overflow influence signal, the transmission system of the small fully automatic loader is regulated to make the small fully automatic loader operate normally.

[0056] The utility model discloses a small-sized fully automatic loader, which adopts a control system of the small-sized fully automatic loader.

[0057] Example 2

[0058] Obtain the clamping force data of the clamping device during the use time of the small fully automatic loader, and obtain the clamping device status signal based on the clamping force data analysis, specifically:

[0059] In a specific embodiment:

[0060] A collection cycle is set to collect the real-time clamping force during the use of the small fully automatic loader to obtain the real-time clamping force value of the small fully automatic loader; if the time during which the real-time clamping force value of the small fully automatic loader is greater than the maximum value of the clamping force threshold exceeds a preset time; or the time during which the real-time clamping force value of the small fully automatic loader is less than or equal to the minimum value of the clamping force threshold exceeds a preset time, it indicates that the clamping force during the use of the small fully automatic loader is abnormal, and an unqualified clamping signal is generated; otherwise, a qualified clamping signal is generated.

[0061] It should be noted that during the automatic loading process, the clamping device is responsible for fixing and moving the ammunition. When a small fully automatic loader is in use, a clamping force value that is too large or too small will affect normal loading; if the real-time clamping force value is too large for a period of time that is greater than the maximum value of the clamping force threshold and exceeds the preset time, the clamping force is too large and may easily cause deformation of the projectile, affecting loading; if the real-time clamping force value is less than or equal to the minimum value of the clamping force threshold and exceeds the preset time, the projectile may fall off, and both will generate unqualified clamping signals.

[0062] Example 3

[0063] Based on the unqualified clamping signal generated in Example 2, due to the vibration of the transmission system when the small fully automatic loader is in use, the spring of the clamping device of the small fully automatic loader will cause the clamping force to change under the action of the inertia force, resulting in abnormal clamping force. By judging whether the unqualified clamping signal caused by the abnormal clamping force during the use of the small fully automatic loader is related to the abnormal transmission system when the small fully automatic loader is in use, if there is a relationship between the vibration of the transmission system, then in the subsequent use of the small fully automatic loader, the vibration value can be adjusted to eliminate the influence of the simultaneous abnormalities of the clamping device and the transmission system, so that the small fully automatic loader can load normally, effectively maintain the stability of the clamping device when the small fully automatic loader is in use, and thus improve the stability of the small fully automatic loader when in use. Specifically:

[0064] Acquire vibration data of the transmission system of the small fully automatic loader during use, obtain a vibration impact value according to the vibration data, and obtain a transmission system status signal based on the vibration impact value analysis; wherein the transmission system status signal includes a normal transmission signal and an abnormal transmission signal;

[0065] In a specific embodiment:

[0066] Divide the collection cycle of the small fully automatic loader into several collection time periods;

[0067] The vibration value of the transmission system in each collection time period is collected by a vibration sensor, and all the vibration values ​​in each time period are summed and averaged to obtain the vibration mean value;

[0068] The vibration mean values ​​of all acquisition time periods are integrated, and the vibration variance value of the small automatic loader within the acquisition period is obtained through the variance calculation formula.

[0069] The vibration mean value in the acquisition period of the small fully automatic loader and the standard vibration threshold value of the small fully automatic loader are calculated by difference between the vibration mean value and the standard vibration threshold value to obtain a vibration deviation value, and then the ratio of the vibration deviation value to the standard vibration threshold value is obtained to obtain the vibration deviation ratio when the small fully automatic loader is in use;

[0070] The standard vibration threshold of the small fully automatic loader is obtained according to the factory parameter information of the transmission system.

[0071] The product of the vibration variance value and the vibration deviation value during the acquisition period of the small automatic loader is obtained and marked as the vibration impact value.

[0072] What needs to be explained is: the greater the vibration impact value of the small fully automatic loader, the more unstable the working state of the transmission system is; the greater the vibration value during the collection period of the use of the small fully automatic loader, the greater the difference between it and the standard vibration threshold, the greater the vibration impact value of the small fully automatic loader, and the greater the safety hazard.

[0073] Compare the vibration impact value of the small fully automatic loader with a preset vibration impact threshold;

[0074] If the vibration impact value of the small fully automatic loader is greater than the preset vibration impact threshold, a transmission abnormality signal is generated;

[0075] If the vibration impact value of the small fully automatic loader is less than or equal to the preset vibration impact threshold, a transmission normal signal is generated;

[0076] It should be noted that, by processing the vibration data of the transmission system when the small fully automatic loader is in use, the collection period is separated and processed into several collection time periods, and the real-time vibration value of each collection time period is processed to obtain the vibration variance value and the vibration deviation value within the collection period of the small fully automatic loader. By obtaining the product of the vibration variance value and the vibration deviation value within the collection period of the small fully automatic loader, the vibration impact value is obtained and compared with the preset vibration impact threshold, so as to evaluate the state of the transmission system.

[0077] Example 4

[0078] Based on the above unqualified clamping signals and transmission abnormal signals, the use time of the small automatic loader is taken as the analysis object, and the influence relationship between the clamping force data and vibration data of the small automatic loader is analyzed, specifically:

[0079] In a specific embodiment:

[0080] The real-time clamping force value and the real-time vibration value of the small automatic loader are obtained during the use of the small automatic loader, the use time of the small automatic loader is used as the X-axis, the real-time clamping force value and the real-time vibration value of the small automatic loader are used as the Y-axis, the clamping force curve of the small automatic loader is constructed with the real-time clamping force value, and the vibration curve is constructed with the real-time vibration value to establish a two-dimensional coordinate system;

[0081] Draw a straight line parallel to the X-axis with the minimum clamping force threshold and the maximum clamping force threshold, respectively, mark the area where the clamping force curve is above the maximum clamping force threshold straight line as the over-force area, and mark the area where the clamping force curve is below the minimum clamping force threshold straight line as the low-force area;

[0082] The duration of the over-force area and the duration of the low-force area are summed to obtain the abnormal support force duration YCT and the abnormal force start time LT.

[0083] Draw a straight line parallel to the X-axis using the standard vibration threshold, and mark the area where the vibration curve is above the standard vibration threshold straight line as the over-vibration area;

[0084] Get the time period corresponding to the earthquake area, get the duration GZT of the earthquake area and the start time ZT of the earthquake.

[0085] The abnormal support force duration YCT and the duration of the overshock area GZT, the abnormal force start time LT and the overshock start time ZT are compared respectively: Specifically:

[0086] If the abnormal holding force duration YCT is less than the duration of the over-vibration area GZT and the abnormal force start time LT is later than the over-vibration start time ZT, it indicates that the vibration causes the clamping force to be abnormal, and a state overflow influence signal is generated, and the transmission system of the small automatic loader is regulated to make the small automatic loader operate normally;

[0087] On the contrary, a bidirectional adjustment signal is generated, indicating that there are problems with both the supporting device and the transmission system, and both need to be adjusted.

[0088] It can be understood that if the abnormal clamping force value of the clamping device is caused by the abnormal vibration of the transmission system, then the over-vibration start time ZT should occur before the abnormal force start time LT, and the abnormal holding force duration YCT obtained by adding the duration of the over-force area and the duration of the low-force area should be less than the duration of the over-vibration area GZT. When these two conditions are met at the same time, it proves that the abnormal vibration of the transmission system causes the abnormal clamping force value of the clamping device. At this time, a state overflow influence signal is generated, and only the transmission system of the small fully automatic loader needs to be adjusted to enable the small fully automatic loader to operate normally; it can intelligently and accurately determine the cause of the failure of the small fully automatic loader, which is convenient for controlling and adjusting the small fully automatic loader.

[0089] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A control system for a small fully automatic loader, characterized in that: include Data acquisition module: obtains the clamping force data of the clamping device during the use time of the small fully automatic loader, and obtains the clamping device status signal according to the clamping force data analysis; wherein the clamping device status signal includes a qualified clamping signal and an unqualified clamping signal; Acquire vibration data of the transmission system of the small fully automatic loader during use, obtain a vibration impact value according to the vibration data, and obtain a transmission system status signal based on the vibration impact value analysis; wherein the transmission system status signal includes a normal transmission signal and an abnormal transmission signal; Processing module: based on the qualified clamping signal and the normal transmission signal, generates a normal signal, indicating that the loader is operating normally and no adjustment is required; Based on the qualified clamping signal and the transmission abnormality signal, a transmission system abnormality signal is generated, and the transmission system needs to be regulated; Based on the unqualified clamping signal and the normal transmission signal, it is generated that the clamping device is abnormal and needs to be regulated; Analysis module: Based on the unqualified clamping signal and the transmission abnormality signal, the use time of the small automatic loader is taken as the analysis object, and the influence relationship between the clamping force data and the vibration data of the small automatic loader is analyzed to obtain the state overflow influence signal; Control module: Control the corresponding equipment based on the abnormal signal type.

2. A control system for a small fully automatic loader according to claim 1, characterized in that: Obtain the clamping force data of the clamping device during the use time of the small fully automatic loader, and obtain the clamping device status signal based on the clamping force data analysis, specifically: A collection cycle is set to collect the real-time clamping force during the use of the small fully automatic loader to obtain the real-time clamping force value of the small fully automatic loader; if the time during which the real-time clamping force value of the small fully automatic loader is greater than the maximum value of the clamping force threshold exceeds a preset time; or the time during which the real-time clamping force value of the small fully automatic loader is less than or equal to the minimum value of the clamping force threshold exceeds a preset time, it indicates that the clamping force during the use of the small fully automatic loader is abnormal, and an unqualified clamping signal is generated; otherwise, a qualified clamping signal is generated.

3. The control system of a small fully automatic loader according to claim 1 is characterized in that: The specific method for obtaining the vibration impact value is as follows: Divide the collection cycle of the small fully automatic loader into several collection time periods; The vibration value of the transmission system in each collection time period is collected by a vibration sensor, and all the vibration values ​​in each time period are summed and averaged to obtain the vibration mean value; The vibration mean values ​​of all acquisition time periods are integrated, and the vibration variance value of the small automatic loader within the acquisition period is obtained through the variance calculation formula; The vibration mean value in the acquisition period of the small fully automatic loader and the standard vibration threshold value of the small fully automatic loader are calculated by difference between the vibration mean value and the standard vibration threshold value to obtain a vibration deviation value, and then the ratio of the vibration deviation value to the standard vibration threshold value is obtained to obtain the vibration deviation ratio when the small fully automatic loader is in use; The product of the vibration variance value and the vibration deviation value during the acquisition period of the small automatic loader is obtained and marked as the vibration impact value.

4. A control system for a small fully automatic loader according to claim 3, characterized in that: The standard vibration threshold of the small fully automatic loader is obtained according to the factory parameter information of the transmission system.

5. The control system of a small fully automatic loader according to claim 3 is characterized in that: The specific method of obtaining the transmission system status signal is as follows: Compare the vibration impact value of the small fully automatic loader with a preset vibration impact threshold; If the vibration impact value of the small fully automatic loader is greater than the preset vibration impact threshold, a transmission abnormality signal is generated; If the vibration impact value of the small fully automatic loader is less than or equal to the preset vibration impact threshold, a transmission normal signal is generated.

6. The control system of a small fully automatic loader according to claim 3 is characterized in that: The influence relationship between the clamping force data and vibration data of the small fully automatic loader is analyzed, specifically: The real-time clamping force value and the real-time vibration value of the small automatic loader are obtained during the use of the small automatic loader, the use time of the small automatic loader is used as the X-axis, the real-time clamping force value and the real-time vibration value of the small automatic loader are used as the Y-axis, the clamping force curve of the small automatic loader is constructed with the real-time clamping force value, and the vibration curve is constructed with the real-time vibration value to establish a two-dimensional coordinate system; Draw a straight line parallel to the X-axis with the minimum clamping force threshold and the maximum clamping force threshold respectively, mark the area where the clamping force curve is above the straight line of the maximum clamping force threshold as the over-force area, and mark the area where the clamping force curve is below the straight line of the minimum clamping force threshold as the low-force area; sum the duration of the over-force area and the duration of the low-force area to obtain the abnormal holding force duration YCT and the abnormal force start time LT.

7. A control system for a small fully automatic loader according to claim 6, characterized in that: Draw a straight line parallel to the X-axis using the standard vibration threshold, and mark the area where the vibration curve is above the standard vibration threshold straight line as the over-vibration area.

8. The control system of a small fully automatic loader according to claim 7, characterized in that: Get the time period corresponding to the earthquake area, get the duration GZT of the earthquake area and the start time ZT of the earthquake.

9. A control system for a small fully automatic loader according to claim 8, characterized in that: The abnormal support force duration YCT is compared with the duration of the overshock area GZT, and the abnormal force start time LT is compared with the overshock start time ZT; specifically: If the abnormal holding force duration YCT is less than the duration of the over-vibration area GZT and the abnormal force start time LT is later than the over-vibration start time ZT, it indicates that the vibration causes the clamping force to be abnormal, and a state overflow influence signal is generated, and the transmission system of the small automatic loader is regulated to make the small automatic loader operate normally; On the contrary, a bidirectional adjustment signal is generated, indicating that there are problems with both the supporting device and the transmission system, and both the supporting device and the transmission system need to be adjusted.

10. A small fully automatic loading machine, characterized in that: The small fully automatic loader adopts the control system of a small fully automatic loader as described in any one of claims 1-9.

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