A smart ammunition physical parameter self-correction detection system

Abstract

This invention relates to an intelligent ammunition physical parameter self-correction detection system, belonging to the field of intelligent detection. The invention includes a vertical testing system and a horizontal testing system. The vertical testing system includes a multi-functional clamping chuck (1), a position correction sensor (2), a parameter measuring mechanism (3), and a base (4). The horizontal testing system includes a front-end measuring mechanism (5), a front-end support mechanism (6), a rear-end support mechanism (7), a support platform (8), and a support base (9). This invention is designed for products with multiple varieties and items, enabling the detection of various products. Due to the numerous errors during testing, this invention incorporates a correction algorithm to automatically compensate for these errors during the detection process. The system achieves automation and unmanned operation, improving work efficiency and changing the traditional manual detection process.

Description

Technical Field

[0001] This invention belongs to the field of intelligent detection, specifically relating to an intelligent ammunition physical parameter self-correction detection system. Background Technology

[0002] Small- and medium-caliber smart munitions have wide applications in the military. General-purpose autocannons, aircraft cannons, anti-tank automatic cannons, howitzers, and rocket launchers are all equipped with small- and medium-caliber smart munitions. Smart munitions primarily possess advantages such as high mobility and precision guidance; therefore, their performance indicators, such as hit probability, effective range, kill radius, and flight speed, are closely related to their physical static parameters. The static parameters of small- and medium-caliber smart munitions include their mass, center of mass, yaw rate, maximum outer diameter, and rudder wingspan.

[0003] The center of mass of a munition is approximately equal to its center of gravity, and its location refers to the axial distance from the center of mass to its tail. Due to uneven material density distribution during actual manufacturing, errors in machining and assembly of parts, and uneven mass distribution of the internal filling material, the mass distribution of the munition is also uneven. The runout of the munition is its radial runout, the runout value caused by the rotation of the tail and the tip. Because the assembly process involves the mating of parts, resulting in coaxiality issues, it has a significant impact on the product's flight performance. Since smart munitions require canard control to change aerodynamic forces and adjust their attitude during flight, the canard wingspan is an important indicator.

[0004] Currently, there are many types of smart munitions, with significant differences between different models. To increase the flexibility of the manufacturing process, it is necessary to design and manufacture a physical parameter testing device that can cover a certain range of calibers. Furthermore, due to uncertainties such as placement errors during actual testing, error correction is required for the test results. Summary of the Invention

[0005] (a) Technical problems to be solved

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

[0007] (II) Technical Solution

[0008] To address the aforementioned technical problems, this invention proposes an intelligent ammunition physical parameter self-correcting detection system. Based on the testing requirements of different products, the system allows for parameter settings of the corresponding device, fully utilizing its high flexibility to achieve flexible testing of different product models. Simultaneously, the use of photoelectric technology enables a non-contact measurement method, effectively avoiding damage to the product's appearance during measurement. The system incorporates an error self-correction function, preventing result deviations caused by system errors and placement errors during testing; a correction algorithm compensates for these deviations.

[0009] Specifically, this includes: vertical testing systems and horizontal testing systems;

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

[0011] The multi-functional clamping chuck 1 and the parameter measuring mechanism 3 are fixed above the base 4. The multi-functional clamping chuck 1 is provided with multiple jaws, including supporting jaws and clamping jaws. Each clamping jaw is provided with a position correction sensor 2.

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

[0013] The support platform 8 is fixed on the support base 9. The support platform 8 is provided with a front support mechanism 6 and a rear support mechanism 7 on both sides. The front support mechanism 6 is provided with a front measuring mechanism 5.

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

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

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

[0017] The front-end measuring mechanism 5 includes: a lifting module 10, a front-end ranging sensor 11, a linear slide rail 12 of the testing mechanism, a grating ruler 13, and a ball screw 14.

[0018] Below the lifting module 10 are a ball screw 14 and a linear slide rail 12 for the testing mechanism. A grating ruler 13 is provided on one side of the linear slide rail 12 for the testing mechanism. The front-end distance sensor 11 is placed on the lifting module 10. The front-end distance sensor 11 is configured to move axially and vertically on the product being tested via the lifting module 10.

[0019] The front 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 under test 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-down, forward-backward, and opening and closing movements of the front support wheel, so as to adjust the test posture of the product under test.

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

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

[0023] The back-end sensor 20 is used to perform secondary confirmation of the spatial positioning of the product under test.

[0024] The multi-functional clamping chuck 1 has a total of six jaws, which are fixed on the rotary table. Each jaw has five steps, three of which are support jaws and three are clamping jaws. The support jaws are fixed, and each step is 2mm higher than the clamping jaws to prevent interference during clamping.

[0025] In the initial zero position state of the multi-functional clamping chuck 1, a position correction sensor is placed next to each clamping claw. The three position correction sensors are placed at a 120° angle to provide data support for the correction algorithm.

[0026] (III) Beneficial Effects

[0027] This invention proposes an intelligent self-correcting detection system for ammunition physical parameters. It is designed for diverse products and can perform multi-item and multi-project testing. Due to the inherent errors in the testing process, this invention incorporates a correction algorithm to automatically compensate for these errors during the testing process. The invention achieves automation and unmanned operation, improving work efficiency and transforming the traditional manual testing workflow. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the vertical testing system structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the horizontal testing system structure;

[0030] Figure 3 This is a schematic diagram of the front-end measurement mechanism.

[0031] Figure 4 This is a schematic diagram of the front-end support mechanism.

[0032] Figure 5 This is a schematic diagram of the back-end support structure;

[0033] Figure 6 The effect of eccentricity error during turntable installation is illustrated in the diagram.

[0034] Figure 7 An illustration showing the effect of the product's center and the turntable's center not coinciding;

[0035] Figure 8 This is a schematic diagram of the deviation equivalence.

[0036] Figure 9 This is a layout diagram of the sensors. Detailed Implementation

[0037] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0038] This embodiment provides a self-correcting detection system for the physical parameters of intelligent ammunition. The design of the overall detection system scheme and the cooperation between different modules can meet the detection requirements of the physical performance of intelligent ammunition with a caliber of 220-400mm. Specifically, it includes: a vertical testing system and a horizontal testing system.

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

[0040] The multi-functional clamping chuck 1 and the parameter measuring mechanism 3 are fixed above the base 4. The multi-functional clamping chuck 1 is provided with multiple jaws, including supporting jaws and clamping jaws. Each clamping jaw is provided with a position correction sensor 2.

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

[0042] The support platform 8 is fixed on the support base 9. The support platform 8 is provided with a front support mechanism 6 and a rear support mechanism 7 on both sides. The front support mechanism 6 is provided with a front measuring mechanism 5.

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

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

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

[0046] The front-end measuring mechanism 5 includes: a lifting module 10, a front-end ranging sensor 11, a linear slide rail 12 of the testing mechanism, a grating ruler 13, and a ball screw 14.

[0047] Below the lifting module 10 are a ball screw 14 and a linear slide rail 12 for the testing mechanism. A grating ruler 13 is provided on one side of the linear slide rail 12 for the testing mechanism. The front-end distance sensor 11 is placed on the lifting module 10. The front-end distance sensor 11 is configured to move axially and vertically on the product being tested via the lifting module 10.

[0048] The front 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 under test 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-down, forward-backward, and opening and closing movements of the front support wheel, so as to adjust the test posture of the product under test.

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

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

[0052] The back-end sensor 20 is used to perform secondary confirmation of the spatial positioning of the product under test.

[0053] The multi-functional clamping chuck 1 has a total of six jaws, which are fixed on the rotary table. Each jaw has five steps, three of which are support jaws and three are clamping jaws. The support jaws are fixed, and each step is 2mm higher than the clamping jaws to prevent interference during clamping.

[0054] In the initial zero position state of the multi-functional clamping chuck 1, a position correction sensor is placed next to each clamping claw. The three position correction sensors are placed at a 120° angle to provide data support for the correction algorithm.

[0055] By designing the overall testing system and ensuring the coordination of different modules, the testing requirements of different products can be met.

[0056] The workflow is as follows: First, select the correct configuration file (including motor position information, test item information, pass / fail criteria, etc.) according to the different products being tested. Second, run the program and the equipment will automatically adjust to the corresponding gear. The testing process is: runout - maximum outer diameter - rudder span - mass - center of gravity - length of the product being tested. It can be flexibly adjusted according to the needs of different products.

[0057] Self-correcting algorithm: Errors exist in two directions during testing:

[0058] (1) Eccentricity error during rotary table installation;

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

[0060] Since this invention relates to the testing process of rotating bodies, the eccentricity error of the rotary table installation will affect the overall measurement results. Before the rotary table installation position is calibrated, the measurement results will be magnified or reduced overall. An equivalent schematic diagram of the eccentricity error of the rotary table installation is shown below. Figure 6As shown in the figure, the dashed line represents the ideal position of the test piece during the design process, the eccentric black solid line represents the actual position of the product during testing after the turntable is installed eccentrically, and the non-eccentric red solid line represents the curve generated by the laser test during the actual rotation of the eccentric turntable. The figure shows that eccentricity causes the overall test results of the testing system to be smaller, with a smaller value of ΔR. The expression for ΔR can be calculated using the formula:

[0061]

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

[0063] This error is a systematic error, therefore, before using this invention, it is necessary to calibrate its system parameters using a calibration rotating body to obtain the calibration systematic error parameter Δx. M Δy M From the above formula, we can derive Δx. M Δy M The relational function.

[0064] Δy M = 2RΔR - ΔR + 2(R - ΔR)Δx M -Δx

[0065] Where R is the radius of the calibrated object, and ΔR is the actual error value during the test. After calibrating with different R objects, multiple sets of ΔR can be obtained. These values ​​are then substituted into the calculation to obtain the system deviation values ​​ΔxM and ΔyM of the equipment. During actual use of the equipment, the test results can be corrected based on this system deviation.

[0066] Since this invention relates to the testing process of rotating bodies, a deviation may occur during product placement where the center of the product does not coincide with the center of the turntable. Figure 7 Therefore, after the product is placed, it is necessary to automatically correct the radial runout caused by the product placement position. The equivalent deviation diagram is shown below. Figure 8 Ideally, the sensor measures the workpiece placed at OM from position OS, with the measurement point being P. However, when the turntable rotates to 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 which point the measurement point is P', and the sensor reading error is Δd.

[0067] To find the error-sensitive direction of radial runout error in the measurement system, Δr, combined with the rotation angle φ of the rotary table, can be decomposed into errors Δrx along the OM-x axis and Δry along the OM-y axis. The decomposition formula is as follows:

[0068]

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

[0070] Through 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, and R is the radius of the object being measured;

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

[0074]

[0075] As the rotary table rotates, φ changes continuously. When φ equals 0, Δd = Δr. The system contains three distance sensors placed at 120° intervals. Figure 9 As shown, the jump deviation value is recorded in real time. Based on the readings of the three sensors and the rotation angle of the rotating body, the three sensors can obtain Δr in sequence when φ = 30°, 150°, and 270°. This can be used to derive the functional relationship between Δd and φ in the formula. Thus, the data error Δd can be calculated with the test acquisition value, and the test result can be corrected to obtain the actual accurate value.

[0076] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A smart ammunition physical parameter self-correction detection system, characterized in that, include: Vertical testing systems, horizontal testing systems; The vertical testing system includes: a multi-functional clamping chuck (1), a position correction sensor (2), a parameter measurement mechanism (3), and a base (4); The multi-functional clamping chuck (1) and the parameter measuring mechanism (3) are fixed above the base (4). The multi-functional clamping chuck (1) is provided with multiple jaws, including supporting jaws and clamping jaws. Each clamping jaw is provided with a position correction sensor (2). The horizontal testing system includes: a front-end measuring mechanism (5), a front-end support mechanism (6), a rear-end support mechanism (7), a support platform (8), and a support base (9); The support platform (8) is fixed on the support base (9). The support platform (8) has a front-end support mechanism (6) and a rear-end support mechanism (7) on both sides. The front-end support mechanism (6) has a front-end measuring mechanism (5). The front-end measuring mechanism (5) is used to test the front-end position information of the product under test. The front-end support mechanism (6) supports the front end of the product under test. The rear-end support mechanism (7) supports the rear end of the product. The support platform (8) is equipped with a pressure sensor at the lower end for calculating the mass and center of gravity of the product under test. The vertical testing system detects the runout, maximum outer diameter, and rudder span of the tested product. The horizontal testing system detects the quality, center of mass, and length of the tested product. The front-end measuring mechanism (5) includes: a lifting module (10), a front-end ranging sensor (11), a linear slide rail (12) of the testing mechanism, a grating ruler (13), and a ball screw (14). Below the lifting module (10) is a ball screw (14) and a linear slide rail (12) of the testing mechanism. A grating ruler (13) is provided on one side of the linear slide rail (12) of the testing mechanism. The front-end distance sensor (11) is placed on the lifting module (10). The front-end distance sensor (11) is configured to move axially and vertically on the product being tested via the lifting module (10). The front 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). 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), axial control motor (16), and opening and closing control motor (17) control the movement of the ball screw (14) to complete the up-down, forward-backward, and opening and closing actions of the front support wheel, so as to adjust the test posture of the product to be tested. The rear support mechanism (7) includes: product positioning wheel (18), product rotation mechanism (19), rear sensor (20), encoder (21), rear support wheel (22), and rear opening and closing control motor (23). The product positioning wheel (18) positions the product under test. The rear support wheel (22) is divided into a driving wheel and a driven wheel. The driving wheel is connected to the product rotation mechanism (19). The rotation is controlled by the rear opening and closing control motor (23) to drive the product under test to rotate. At the same time, the rotation is transmitted to the driven wheel. The actual rotation is recorded by the encoder (21). The back-end sensor (20) is used to perform secondary confirmation of the spatial positioning of the product under test.

2. The intelligent ammunition physical parameter self-correction detection system as described in claim 1, characterized in that, The multi-functional clamping chuck (1) has a total of six jaws, which are fixed on the rotary table. Each jaw has five steps, three of which are support jaws and three are clamping jaws. The support jaws are fixed and each step is 2mm higher than the clamping jaws so as not to interfere during the clamping process.

3. The intelligent ammunition physical parameter self-correction detection system as described in claim 2, characterized in that, In the initial zero position state of the multi-functional clamping chuck (1), a position correction sensor is placed next to each clamping jaw. The three position correction sensors are placed at a 120° angle to provide data support for the correction algorithm.

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