Intelligent ammunition physical parameter self-correction detection system

Abstract

The invention relates to an intelligent ammunition physical parameter self-correction detection system, and belongs to the field of intelligent detection. The device comprises a vertical test system and a horizontal test system, the vertical testing system comprises a multifunctional clamping chuck (1), a position correction sensor (2), a parameter measuring mechanism (3) and a base (4), the horizontal testing system comprises a front-end measuring mechanism (5), a front-end supporting mechanism (6), a rear-end supporting mechanism (7), a supporting platform (8) and a supporting base (9), detection work of multiple kinds of products and multiple items can be achieved for different products, and due to the fact that many errors exist in the testing process, a correction algorithm is embedded, and the errors are automatically compensated in the detection work. In the working process, automation and unmanned operation can be achieved, the working efficiency is improved, and the working state of traditional manual detection is changed.

Description

Technical Field

[0001] The invention belongs to the field of intelligent detection, and in particular relates to an intelligent ammunition physical parameter self-correction detection system. Background Art

[0002] Small and medium caliber intelligent ammunition is widely used in the military. General machine guns, aircraft guns, anti-tank automatic guns, howitzers, rocket launchers, etc. are equipped with small and medium caliber intelligent ammunition. Intelligent ammunition mainly has the advantages of high mobility and precision guidance. Therefore, the performance indicators of intelligent ammunition such as target hit rate, effective range, killing radius, flight speed, etc. are closely related to its physical static parameters. The static parameters of small and medium caliber intelligent ammunition include its mass, center of mass, swing difference, maximum outer diameter and rudder wingspan length.

[0003] The center of mass of ammunition is approximately the center of gravity of the ammunition, and its center of mass position refers to the axial distance from the center of mass of the ammunition to its tail. Due to the uneven distribution of material density, errors in the processing and assembly of parts, and uneven mass distribution of internal fillings in the actual manufacturing process, the mass distribution of ammunition is also uneven. The swing error of ammunition is its radial runout, the runout value caused by the rotation of the bullet tip at the tail. Since the product involves the coaxiality problem caused by the docking of parts during the assembly process, it will have a greater impact on the flight process of the product. Since smart ammunition needs to use canard control to change the size of aerodynamic force during flight, thereby adjusting its aerial posture, the rudder span length is its important indicator.

[0004] At present, there are many types of smart ammunition, and the differences between different models are large. In order to increase the flexibility of the production process, it is necessary to design and manufacture a physical parameter testing device that can cover a certain range of caliber sizes. At the same time, due to the uncertainty factors such as placement error in the actual test process, it is necessary to correct the error of the test results. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] The technical problem to be solved by the present invention is how to provide a smart ammunition physical parameter self-correction detection system to solve the problem that there are many types of smart ammunition at this stage and the differences between different models are large and difficult to detect.

[0007] (II) Technical solution

[0008] In order to solve the above technical problems, the present invention proposes an intelligent ammunition physical parameter self-correction detection system. According to the test requirements of different products, the corresponding device can be set with parameters, and its high flexibility can be fully utilized to realize flexible testing of different models of products. At the same time, the non-contact measurement method is realized by using photoelectric technology, which can effectively avoid damage to the appearance of the product during the measurement process. The system is equipped with an error self-correction function, which can avoid the result deviation caused by system error and placement error during the test process, and the result can be compensated by the correction algorithm.

[0009] Specifically including: vertical test system, horizontal test system;

[0010] The vertical testing system comprises: a multifunctional clamping chuck 1, a position correction sensor 2, a parameter measuring mechanism 3, and a base 4;

[0011] The multifunctional holding chuck 1 and the parameter measuring mechanism 3 are fixed on the base 4. The multifunctional holding chuck 1 is provided with a plurality of claws, including supporting claws and clamping claws. A position correction sensor 2 is provided next to each clamping claw.

[0012] The horizontal test system comprises: a front-end measuring mechanism 5, a front-end supporting mechanism 6, a rear-end supporting mechanism 7, a supporting platform 8, and a supporting base 9;

[0013] The support platform 8 is fixed on the support base 9, and a front-end support mechanism 6 and a rear-end support mechanism 7 are respectively provided on both sides of the support platform 8, and a front-end measuring mechanism 5 is provided on the front-end support mechanism 6;

[0014] The front-end measuring mechanism 5 is used to test the front-end position information of the product under test, the front-end supporting mechanism 6 supports the front-end of the product under test, the rear-end supporting mechanism 7 supports the rear-end of the product, and a pressure sensor is provided at the lower end of the supporting platform 8 for calculating the mass and center of mass of the product under test;

[0015] The vertical testing system detects the runout, maximum outer diameter and rudder span length of the tested product;

[0016] The horizontal testing system detects the mass, center of mass and length of the product being tested.

[0017] The front-end measuring mechanism 5 includes: a lifting module 10, a front-end distance measuring sensor 11, a test mechanism linear guide rail 12, a grating ruler 13, and a ball screw 14;

[0018] A ball screw 14 and a test mechanism linear slide 12 are provided below the lifting module 10, a grating ruler 13 is provided on one side of the test mechanism linear slide 12, and the front end distance measuring sensor 11 is placed on the lifting module 10, and the front end distance measuring sensor 11 is configured to move axially and up and down on the product under test through the lifting module 10.

[0019] The front end support mechanism 6 includes: a front support wheel, a lifting control motor 15, an axial control motor 16, and an opening and closing control motor 17;

[0020] The product to be tested is placed on the front support wheel, and the bottom is connected to the ball screw 14. The lifting control motor 15, the axial control motor 16, and the opening and closing control motor 17 control the movement of the ball screw 14 to complete the up and down, front and back, and opening and closing movements of the front support wheel to adjust the test posture of the product to be tested.

[0021] The rear end support mechanism 7 includes: a product positioning wheel 18, a product rotation mechanism 19, a rear end sensor 20, an encoder 21, a rear end support wheel 22, and a rear end opening and closing control motor 23;

[0022] The product positioning wheel 18 positions the product under test, and the rear support wheel 22 is divided into a driving wheel and a driven wheel. The driving wheel is connected to the product rotating mechanism 19, and the rotation is controlled by the rear end opening and closing control motor 23 to drive the product under test to rotate, and the rotation is transmitted to the driven wheel, and the actual rotation is recorded by the encoder 21;

[0023] The rear-end sensor 20 is used to perform secondary confirmation on the spatial positioning of the product being tested.

[0024] Among them, the multifunctional holding chuck 1 is provided with a total of six claws, and the six claws are fixed on the turntable. Each claw is provided with 5 steps, of which three are supporting claws and three are clamping claws. The supporting claws are fixed, and each step is 2mm higher than the clamping claw so as to avoid interference during the clamping process.

[0025] Among them, when the multifunctional holding chuck 1 is in the initial zero position, a position correction sensor is placed next to each clamping claw, and the three position correction sensors are placed at an angle of 120° to provide data support for the correction algorithm.

[0026] (III) Beneficial effects

[0027] The present invention proposes an intelligent ammunition physical parameter self-correction detection system, which can realize the detection of multiple varieties of products and multiple projects. Since there are many errors in the test process, the present invention embeds a correction algorithm to automatically compensate for the errors in the detection work. The invention can realize automation and unmanned operation in the working process, improve work efficiency, and change the working state of traditional manual detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the vertical test system of the present invention;

[0029] Figure 2 It is a schematic diagram of the structure of the horizontal test system;

[0030] Figure 3 It is a schematic diagram of the structure of the front-end measurement mechanism;

[0031] Figure 4 It is a schematic diagram of the front end support mechanism structure;

[0032] Figure 5 It is a schematic diagram of the structure of the rear-end support mechanism;

[0033] Figure 6 This is the effect diagram of the eccentricity error of the turntable installation;

[0034] Figure 7 This is the effect diagram of the phenomenon that the center of the product circle and the center of the turntable circle do not coincide;

[0035] Figure 8 is a schematic diagram of deviation equivalence;

[0036] Fig. 9 The sensor layout diagram. DETAILED DESCRIPTION

[0037] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0038] This embodiment provides a self-correction detection system for physical parameters of intelligent ammunition. The design of the overall detection system solution and the mutual cooperation of different modules can meet the detection requirements of physical properties of 220-400mm caliber intelligent ammunition, specifically including: a vertical test system and a horizontal test system;

[0039] The vertical testing system comprises: a multifunctional clamping chuck 1, a position correction sensor 2, a parameter measuring mechanism 3, and a base 4;

[0040] The multifunctional holding chuck 1 and the parameter measuring mechanism 3 are fixed on the base 4. The multifunctional holding chuck 1 is provided with a plurality of claws, including supporting claws and clamping claws. A position correction sensor 2 is provided next to each clamping claw.

[0041] The horizontal test system comprises: a front-end measuring mechanism 5, a front-end supporting mechanism 6, a rear-end supporting mechanism 7, a supporting platform 8, and a supporting base 9;

[0042] The support platform 8 is fixed on the support base 9, and a front-end support mechanism 6 and a rear-end support mechanism 7 are respectively provided on both sides of the support platform 8, and a front-end measuring mechanism 5 is provided on the front-end support mechanism 6;

[0043] The front-end measuring mechanism 5 is used to test the front-end position information of the product under test, the front-end supporting mechanism 6 supports the front-end of the product under test, the rear-end supporting mechanism 7 supports the rear-end of the product, and a pressure sensor is provided at the lower end of the supporting platform 8 for calculating the mass and center of mass of the product under test;

[0044] The vertical testing system detects the runout, maximum outer diameter and rudder span length of the tested product;

[0045] The horizontal testing system detects the mass, center of mass and length of the product being tested.

[0046] The front-end measuring mechanism 5 includes: a lifting module 10, a front-end distance measuring sensor 11, a test mechanism linear guide rail 12, a grating ruler 13, and a ball screw 14;

[0047] A ball screw 14 and a test mechanism linear slide 12 are provided below the lifting module 10, a grating ruler 13 is provided on one side of the test mechanism linear slide 12, and the front end distance measuring sensor 11 is placed on the lifting module 10, and the front end distance measuring sensor 11 is configured to move axially and up and down on the product under test through the lifting module 10.

[0048] The front end support mechanism 6 includes: a front support wheel, a lifting control motor 15, an axial control motor 16, and an opening and closing control motor 17;

[0049] The product to be tested is placed on the front support wheel, and the bottom is connected to the ball screw 14. The lifting control motor 15, the axial control motor 16, and the opening and closing control motor 17 control the movement of the ball screw 14 to complete the up and down, front and back, and opening and closing movements of the front support wheel to adjust the test posture of the product to be tested.

[0050] The rear end support mechanism 7 includes: a product positioning wheel 18, a product rotation mechanism 19, a rear end sensor 20, an encoder 21, a rear end support wheel 22, and a rear end opening and closing control motor 23;

[0051] The product positioning wheel 18 positions the product under test, and the rear support wheel 22 is divided into a driving wheel and a driven wheel. The driving wheel is connected to the product rotating mechanism 19, and the rotation is controlled by the rear end opening and closing control motor 23 to drive the product under test to rotate, and the rotation is transmitted to the driven wheel, and the actual rotation is recorded by the encoder 21;

[0052] The rear-end sensor 20 is used to perform secondary confirmation on the spatial positioning of the product being tested.

[0053] Among them, the multifunctional holding chuck 1 is provided with a total of six claws, and the six claws are fixed on the turntable. Each claw is provided with 5 steps, of which three are supporting claws and three are clamping claws. The supporting claws are fixed, and each step is 2mm higher than the clamping claw so as to avoid interference during the clamping process.

[0054] Among them, when the multifunctional holding chuck 1 is in the initial zero position, a position correction sensor is placed next to each clamping claw, and the three position correction sensors are placed at an angle of 120° to provide data support for the correction algorithm.

[0055] Through the design of the overall detection system solution and the coordination of different modules, the detection requirements of different products can be met.

[0056] The workflow is to first select the correct configuration file (including motor position information, test item information, qualified criteria, etc.) according to the different products being tested, and then run the program to automatically adjust the equipment to the corresponding gear. The detection process is runout-maximum outer diameter-rudder wingspan length-mass-center of mass-length of the product being tested. It can be flexibly adjusted according to the needs of different products.

[0057] Self-correction algorithm: During the test, errors occur in two directions:

[0058] (1) Eccentricity error of the turntable installation;

[0059] (2) Radial runout error caused by eccentric placement of the product; the present invention can correct both errors through self-correction.

[0060] Since the present invention involves the testing process of a rotating body, the eccentricity error of the turntable installation will affect the overall measurement result. Before the turntable installation position is calibrated, the measurement result will be magnified or reduced as a whole. Figure 6As shown. The dotted line is the ideal position of the test piece during the design process, the eccentric black solid line is the actual position during the product test after the turntable is installed eccentrically, and the non-eccentric red solid line is the actual value generation curve of the laser test during the actual rotation of the eccentric turntable. It can be seen from the figure that eccentricity will cause the test results of the test system to be smaller overall, and the smaller value is ΔR. The expression of ΔR can be calculated according to the formula:

[0061]

[0062] ΔR is the actual measurement error value, R is the actual radius of the object being measured, Δy M is the deviation in the y direction of the rotation center, Δx M is the deviation in the x direction of the rotation center;

[0063] This error is a system error, so before using the present invention, it is necessary to calibrate the system parameters using a calibration rotating body to obtain the calibration system error parameter Δx M , Δy M , we can derive Δx from the above formula M , Δy M relationship function.

[0064] Δy M =2RΔR-ΔR+2(R-ΔR)Δx M -Δx

[0065] Among them, R is the radius of the calibration object, ΔR is the actual error value during the test. After calibrating objects with different R values, multiple groups of ΔR can be obtained. Substituting them into the calculation, the system deviation values ​​ΔxM and ΔyM of the device can be obtained. During the actual use of the device, the test results can be corrected according to the system deviation.

[0066] Since the present invention relates to the testing process of a rotating body, a deviation phenomenon may occur during the product placement process, such as the misalignment of the product center and the turntable center. Figure 7 Therefore, after the product is placed, the radial runout generated by the product placement position needs to be automatically corrected. The deviation equivalent diagram is shown in the figure below. Figure 8 Ideally, the sensor measures the test piece placed at OM at the OS position, and the measuring point is P. However, when the turntable rotates to an angle φ, the radial runout error Δr causes the turntable's rotation center to shift to O. ′ M , line segment O M O ′ M That is, the radial runout error Δr, at this time the measuring point is P', and the sensor reading error is Δd.

[0067] In order to find the error-sensitive direction of the radial runout error in the measurement system, Δr can be decomposed into the error Δrx along the OM-x axis and the error Δry along the OM-y axis by combining the rotation angle φ of the turntable. The decomposition formula is:

[0068]

[0069] Δr is the dot deviation distance, i.e. radial runout error, Φ is the rotation angle of the turntable, Δrx and Δry are the directional components;

[0070] By formula decomposition, O ′ M It can be represented by any coordinate point (Δrx, Δry) in the OM-xoy plane. Then the sensor reading error Δd can be expressed as

[0071]

[0072] Δd is the sensor reading error, R is the radius of the object being measured;

[0073] Substituting the decomposition formula, the variation trend of the sensor reading error Δd with the rotation angle φ can be expressed as:

[0074]

[0075] When the turntable is rotating, φ keeps changing. When φ is equal to 0, Δd = Δr. There are three distance sensors in the system, which are placed at 120°. Fig. 9 As shown, the vibration deviation value is recorded in real time. According to the readings of the three sensors combined with the rotation angle of the rotating body, when φ=30°, 150°, and 270°, the three sensors can obtain Δr in turn, which can be brought into the formula to obtain the functional relationship between Δd and φ, so that the data error Δd can be calculated with the test acquisition value, and finally the test result can be corrected to obtain the actual accurate value.

[0076] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent ammunition physical parameter self-correction detection system, characterized in that: include: Vertical test system, horizontal test system; The vertical testing system comprises: a multifunctional clamping chuck (1), a position correction sensor (2), a parameter measuring mechanism (3), and a base (4); The multifunctional holding chuck (1) and the parameter measuring mechanism (3) are fixed on the top of the base (4); the multifunctional holding chuck (1) is provided with a plurality of claws, the claws including supporting claws and clamping claws, and a position correction sensor (2) is provided next to each clamping claw; The horizontal testing system comprises: a front-end measuring mechanism (5), a front-end supporting mechanism (6), a rear-end supporting mechanism (7), a supporting platform (8), and a supporting base (9); The support platform (8) is fixed on a support base (9), and a front-end support mechanism (6) and a rear-end support mechanism (7) are respectively provided on both sides of the support platform (8), and a front-end measurement mechanism (5) is provided on the front-end support mechanism (6); The front-end measuring mechanism (5) is used to test the front-end position information of the product under test, the front-end supporting mechanism (6) supports the front-end of the product under test, the rear-end supporting mechanism (7) supports the rear-end of the product, and a pressure sensor is provided at the lower end of the supporting platform (8) for calculating the mass and center of mass of the product under test; The vertical testing system detects the runout, maximum outer diameter and rudder span length of the tested product; The horizontal testing system detects the mass, center of mass and length of the product being tested.

2. The intelligent ammunition physical parameter self-correction detection system according to claim 1, characterized in that: The front-end measuring mechanism (5) comprises: a lifting module (10), a front-end distance measuring sensor (11), a test mechanism linear slide rail (12), a grating ruler (13), and a ball screw (14); A ball screw (14) and a test mechanism linear slide rail (12) are provided below the lifting module (10); a grating ruler (13) is provided on one side of the test mechanism linear slide rail (12); the front end distance measuring sensor (11) is placed on the lifting module (10); and the front end distance measuring sensor (11) is configured to move axially and up and down in the product to be tested through the lifting module (10).

3. The intelligent ammunition physical parameter self-correction detection system as claimed in claim 2, characterized in that: The front end support mechanism (6) comprises: a front support wheel, a lifting control motor (15), an axial control motor (16), and an opening and closing control motor (17); The product to be tested is placed on the front support wheel, and the bottom is connected to a ball screw (14). The lifting control motor (15), the axial control motor (16), and the opening and closing control motor (17) control the movement of the ball screw (14) to complete the up and down, front and back, and opening and closing movements of the front support wheel, so as to adjust the test posture of the product to be tested.

4. The intelligent ammunition physical parameter self-correction detection system as claimed in claim 3, characterized in that: The rear end support mechanism (7) comprises: a product positioning wheel (18), a product rotating mechanism (19), a rear end sensor (20), an encoder (21), a rear end support wheel (22), and a rear end opening and closing control motor (23); The product positioning wheel (18) positions the product to be tested, and the rear support wheel (22) is divided into a driving wheel and a driven wheel. The driving wheel is connected to the product rotating mechanism (19), and the rotation is controlled by the rear end opening and closing control motor (23) to drive the product to be tested to rotate, and the rotation is transmitted to the driven wheel at the same time, and the actual rotation is recorded by the encoder (21); The rear-end sensor (20) is used to perform secondary confirmation on the spatial positioning of the product being tested.

5. The intelligent ammunition physical parameter self-correction detection system as claimed in claim 1, characterized in that: The multifunctional holding chuck (1) is provided with a total of six clamping jaws, which are fixed on a rotating table. Each clamping jaw is provided with five steps, of which three are supporting clamping jaws and three are clamping clamping jaws. The supporting clamping jaws are fixed and each step is 2 mm higher than the clamping clamping jaw so as to avoid interference during the clamping process.

6. The intelligent ammunition physical parameter self-correction detection system as claimed in claim 5, characterized in that: When the multifunctional holding chuck (1) is in the initial zero position, a position correction sensor is placed next to each clamping claw, and the three position correction sensors are placed at an angle of 120 degrees to provide data support for the correction algorithm.

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