Multi-degree-of-freedom tactical target and control method

Abstract

The invention provides a multi-degree-of-freedom tactical target and a control method. The multi-degree-of-freedom tactical target comprises a base, a shell, a power transmission assembly, a target clamp assembly, a power source assembly, a communication assembly, an electrical control assembly and an external battery. The base is used for supporting and installing the equipment main body, and the base and the shell are fixed through a quick dismounting screw. The multifunctional tactical target is mainly applied to military police anti-terrorism training, tactical application training and competitive shooting training occasions, one tactical target can have multiple action modes such as rising and falling, side turning, swinging and rotating at the same time, switching and combination of the various modes can be completed without manual intervention, and the requirements of diversified tactical training are met; and the fidelity and complexity of training are improved.

Description

Technical Field

[0001] The present invention relates to a multi-degree-of-freedom tactical target and a control method therefor. Background Art

[0002] At present, most of the tactical training targets on the domestic market are made into serialized products with single functions such as standing up and falling down, side turning, swinging, etc. Although the multi-functional targets in the institute have multiple target-emerging functions, they need to change the placement posture of the targets and cannot meet multiple target-emerging actions in a fixed posture.

[0003] With the improvement of training requirements, in actual training, it is often necessary to combine tactical training with actual training scenarios, which puts higher requirements on the targets. Summary of the Invention

[0004] Object of the Invention: The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom tactical target aiming at the deficiencies of the prior art, including a base, a housing, a power transmission assembly, a target clip assembly, a power supply assembly, a communication assembly, an electrical control assembly, and an external battery;

[0005] The base is used to support and install the main body of the device (the main body of the device refers to the overall multi-degree-of-freedom tactical target excluding the base, the external battery, and the target board), and the base and the housing are fixed by quick-release screws;

[0006] The external battery is placed on the base; one end of a special cable of the external battery is connected to the output interface end on the external battery, and the other end is connected to the power input interface on the housing to supply power to the device;

[0007] The housing is used to encapsulate the power transmission assembly, the power supply assembly, the communication assembly, and the electrical control assembly.

[0008] The power transmission assembly includes a first power module, a second power module, and a third power module;

[0009] The first power module includes a first mounting seat, a first motor module, a first position sensor, a first bearing, a first power output disk, and a first induction block;

[0010] The first bearing is installed between the housing and the first power output disk, the outer ring of the first bearing is connected to the housing, and the inner ring is connected to the first power output disk;

[0011] The first induction block is connected to the first power output disk by screws;

[0012] The second power module includes a second mounting seat, a second motor module, a second position sensor, a second power output disk, and a second induction block;

[0013] The third power module includes a rocker arm, a third motor module, a bearing seat, a second bearing, a third power output disk, and a target reporting sensor; the second bearing is installed between the bearing seat and the third power output disk;

[0014] The third motor module is connected to the rocker arm by screws;

[0015] The third power output disk is connected to the output shaft of the third motor module by screws, the second bearing is supported between the third power output disk and the bearing seat, and the bearing seat is connected to the rocker arm by screws;

[0016] The first mounting seat is fixed to the housing by means of threaded connection, the first motor module is fixed to the first mounting seat by means of threaded connection, the first power output disk is fixed to the first motor module by means of threaded connection, the first position sensor is fixed to the tail of the first mounting seat by means of threaded connection with the first mounting seat, the second sensing block is fixed to the first power output disk by means of threaded connection, and the second sensing block passes through the hollow shaft of the first motor module and maintains a 2-mm vertical gap with the first position sensor; the first bearing is installed between the housing and the first power output disk;

[0017] The second mounting seat is fixed to the first power output disk by means of threaded connection, the second motor module is fixed to the second mounting seat by means of threaded connection, the second power output disk is fixed to the second motor module by means of threaded connection, the second position sensor is fixed to the tail of the second mounting seat by means of threaded connection with the second mounting seat, and the second sensing block is fixed to the second power output disk by means of threaded connection, and the second sensing block passes through the hollow shaft of the second motor module and maintains a 2-mm vertical gap with the second position sensor.

[0018] The rocker arm is fixed to the second power output disk in the second power module by means of threaded connection, the second motor module is fixed to the rocker arm by means of threaded connection, the bearing seat is fixed to the rocker arm by means of threaded connection, and the third power output disk is fixed to the third motor module by means of threaded connection; the target reporting sensor is installed in the internal cavity of the rocker arm and fixed to the rocker arm by means of threaded connection.

[0019] Magnets are installed in the first sensing block and the second sensing block.

[0020] The target clip assembly includes a target clip fixing tube, a target clip telescopic tube, a spring buckle, an adjustable pipe clamp, a moving pressure plate, and an adjustable position screw;

[0021] The inner wall dimension of the target clip fixing tube is slightly larger than the outer wall dimension of the target clip telescopic tube. The target clip telescopic tube is sleeved inside the target clip fixing tube. A U-shaped notch is designed at the top of the target clip fixing tube, and the adjustable pipe clamp is installed at the top of the target clip fixing tube;

[0022] When the locking adjustable pipe clamp is tightened, the telescopic pipe of the target clamp cannot slide within the fixed pipe of the target clamp. When the adjustable pipe clamp is loosened, the telescopic pipe of the target clamp can slide within the fixed pipe of the target clamp;

[0023] The snap fastener is installed inside the telescopic pipe of the target clamp. Two elastic bumps protrude from the outer wall of the telescopic pipe of the target clamp. When the elastic bumps are pressed down, the snap fastener can be flush with the outer wall of the telescopic pipe of the target clamp, and when released, the snap fastener pops up;

[0024] There are notches on the fixed pipe of the target clamp, and the two elastic bumps are inside the notches to prevent the telescopic pipe of the target clamp from rotating and disengaging relative to the fixed pipe of the target clamp.

[0025] The moving pressure plate is connected to the fixed pipe of the target clamp through an adjustable screw. Adjusting the adjustable screw can achieve the movement of the moving pressure plate relative to the fixed pipe of the target clamp.

[0026] The installation end of the fixed pipe of the target clamp is designed as a flat shaft structure and is installed in the U-shaped groove structure of the third power output disc in the power transmission component and fixed with screws.

[0027] The power supply component includes a power supply fixing frame and a power supply module;

[0028] The power supply module and the communication component are installed on the power supply fixing frame through screws.

[0029] The electrical control component includes a circuit board fixing frame and a control circuit board;

[0030] The control circuit board is installed on the fixing frame through screws.

[0031] The present invention also provides a multi-degree-of-freedom tactical target control method, including: a transmission method and a working method. The transmission method includes:

[0032] The first motor module drives the first power output disc and drives the second power module to rotate around the vertical axis 1; the second motor module drives the second power module to drive the third power module to rotate around the horizontal axis; the third motor module drives the third power output disc to drive the target clamp assembly to rotate around the vertical axis 2; the vertical axis 1 is the center line of the output shaft of the first motor module, the vertical axis 2 is the center line of the output shaft of the third motor module, and the horizontal axis is the center line of the output shaft of the second motor module;

[0033] The outer shell and the first power output disc ensure through structural limitation that the limit angle range for the second power module to rotate around the vertical axis 1 is -5° to 185°;

[0034] The second mounting seat and the power swing arm ensure through structural limitation that the limit angle range for the third power module to rotate around the horizontal axis is -5° to 95°;

[0035] The bearing block and the third power output disk are designed with structural limits to ensure that the limit angle range for the target clip assembly to rotate around the vertical axis 2 is -5° to 185°;

[0036] The vertical axis 1 and the vertical axis 2 are collinear.

[0037] The working method includes:

[0038] After the power is turned on, the multi-degree-of-freedom tactical target starts self-checking and positioning: when the first motor module drives the first power output disk and drives the second power module to rotate around the vertical axis 1 at a speed of 5 r / min until the first induction block is exactly opposite to the first position sensor, at this time, the control circuit board controls the first motor module to set the current position (the current position is the positioning zero point) as the positioning point, and then controls the first motor module to rotate within the range of 5° to 185° relative to the positioning point;

[0039] The third motor module drives the third power output disk to drive the target clip assembly to rotate around the vertical axis 2 at a speed of 5 r / min until it is limited by the bearing block at -5°. The third motor module starts the stall mechanism. At this time, the control circuit board controls the third motor module to set the current position (the current position is the positioning zero point) as the positioning point, and then controls the third motor module to rotate within the range of 5° to 185° relative to the positioning point;

[0040] During normal operation, the multi-degree-of-freedom tactical target is controlled through the control terminal to achieve the movement of 3 degrees of freedom, and the movement of 3 degrees of freedom can be freely combined and switched;

[0041] The first motor module drives the first power output disk and drives the second power module to rotate around the vertical axis 1; the second motor module drives the second power module to drive the third power module to rotate around the horizontal axis; the third motor module drives the third power output disk to drive the target clip assembly to rotate around the vertical axis 2.

[0042] Beneficial effects: The present invention is mainly applied to the occasions of military and police anti-terrorism training, tactical application training, and competitive shooting training. It can realize that a tactical target simultaneously has multiple action modes such as standing up and falling, side turning, swaying, and rotating, and can complete various mode switching and combination without manual intervention, meeting the needs of diversified tactical training, improving the realism and complexity of training, and enhancing the observation and judgment ability and rapid response ability of the trainer. This product is relatively simple and reliable in structural design. The power assembly adopts relatively advanced joint motors in the country, with high control precision, fast response speed, and high integration. In terms of software control, it adopts the combination of a handheld terminal control program and a main control, and the operation is simple and convenient. Currently, there are no similar competing products in the domestic tactical training market. The birth and launch of this product can enrich and broaden the existing tactical training market, and at the same time, we can take the initiative in terms of price. Description of the Drawings

[0043] The following further specific description of the present invention will be made in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become clearer.

[0044] Figure 1 It is an overall composition diagram (isometric view) of a multi-degree-of-freedom tactical target.

[0045] Figure 2 It is a structural diagram of the internal composition of a multi-degree-of-freedom tactical target.

[0046] Figure 3 It is a structural diagram of the power transmission component composition.

[0047] Figure 4 It is a structural diagram of the target clip component composition.

[0048] Figure 5 It is a structural diagram of the first power module composition.

[0049] Figure 6 It is a structural diagram of the second power module composition.

[0050] Figure 7 It is a structural diagram of the third power module composition.

[0051] Figure 8 It is a position diagram of the vertical axes 1, 2 and the horizontal axis.

[0052] Figure 9 It is a structural limit design diagram between the second mounting base and the power swing arm. Specific Embodiments

[0053] As Figure 1 , Figure 2 shown, this embodiment discloses a multi-degree-of-freedom tactical target, including a base 1, a housing 2, a power transmission component 3, a target clip component 4, a power supply component 5, a communication component 6, an electrical control component 7, an external battery 8, etc.

[0054] The installation end of the target clip component 4 is designed as a flat shaft structure and installed in the U-shaped groove structure of the third power output disk 3-3-5 and fixed with screws. The power supply component 5, the communication component 6, and the electrical control component 7 are all installed at the corresponding installation positions on the first mounting base 3-1-1 and fixed with screws. The specific installation positions and layout parts Figure 2 . The external battery 8 is placed on the second-layer partition of the base 1. The base 1 is designed with a layered structure. The upper layer is used to fix the housing 2, and the second layer is used to place the external battery 8.

[0055] A power switch, a self-check switch, a power input interface, a status indicator light, an expansion interface and other various operation and interface devices are installed on the housing 2. The external battery 8 is connected to the power input interface on the housing 2 through one end of a special cable and to the output interface end on the external battery 8 through the other end to supply power to the device. The power switch realizes the power-on and power-off of the device. The power supply component 5 converts the voltage input by the external battery 8 into a suitable voltage and supplies power to the power transmission component 3, the communication component 6, and the electrical control component 7 respectively. The communication component 6 realizes the communication between the control end and the multi-degree-of-freedom tactical target in a wireless form according to a specific protocol. The control end sends a control instruction to the communication component 6, and the communication component 6 transmits the instruction to the electrical control component 7, and the electrical control component 7 controls the specific actions of the power transmission component 3.

[0056] The base 1 is used to support and install the device body, and the base and the housing 2 are fixed by quick-release screws.

[0057] The housing 2 is used to encapsulate the power transmission component 3, the power supply component 5, the communication component 6, the electrical control component 7, etc., plays a role in isolating and anti-corrosion for the internal components, and is used to install various interface devices and operating devices. (Here, encapsulation means that all internal components are installed inside the housing 2.)

[0058] As Figure 3 shown, the power transmission component 3 includes a first power module 3-1, a second power module 3-2, and a third power module 3-3.

[0059] As Figure 4 shown, the target clip component 4 includes a target clip fixing tube 4-1, a target clip telescopic tube 4-2, a spring buckle 4-3, an adjustable pipe clamp 4-4, a moving pressure plate 4-5, and an adjustable position screw 4-6.

[0060] The installation end of the target clip fixing tube 4-1 in the target clip component 4 is designed as a flat shaft structure and installed in the U-shaped groove structure of the third power output disc 3-3-5 in the power transmission component 3 and fixed with screws. The target clip telescopic tube 4-2 is installed in the target clip fixing tube 4-1 and can slide up and down in the target clip fixing tube 4-1 to achieve the telescopic function of the target clip component. The spring buckle 4-3 is installed inside the target clip telescopic tube 4-2, and a positioning hole on the outer circumference of the target clip telescopic tube 4-2 protrudes an elastic contact point. The function of the elastic contact point is to ensure that the target clip telescopic tube 4-2 does not come out and does not rotate when sliding in the target clip fixing tube 4-1. The adjustable pipe clamp 4-4 is installed at the end of the target clip fixing tube 4-1 and is used to lock the target clip telescopic tube 4-2.

[0061] The power supply component 5 includes a power supply fixing bracket 5-1 and a power module 5-2.

[0062] The electrical control component 7 includes a circuit board fixing bracket 7-1 and a control circuit board 7-2.

[0063] As shown Figure 5 in FIG. Figure 5 , the first power module 3-1 includes a first mounting base 3-1-1, a first motor module 3-1-2, a first position sensor 3-1-3, a first bearing 3-1-4, a first power output disc 3-1-5, and a first induction block 3-1-6.

[0064] As shown Figure 6 in FIG. Figure 6 , the second power module 3-2 includes a second mounting base 3-2-1, a second motor module 3-2-2, a second position sensor 3-2-3, a second power output disc 3-2-4, and a second induction block 3-2-5.

[0065] As shown Figure 7 in FIG. Figure 7 , the third power module 3-3 includes a rocker arm 3-3-1, a third motor module 3-3-2, a bearing seat 3-3-3, a second bearing 3-3-4, a third power output disc 3-3-5, and a target reporting sensor 3-3-6.

[0066] Magnets are installed in the first induction block 3-1-6 and the second induction block 3-2-5.

[0067] The base 1 is used to support and install the main body of the device, and the base is fixed to the outer shell 2 by quick-release screws.

[0068] In the first power module 3-1, the first mounting base 3-1-1 is fixed to the outer shell 2 by means of threaded connection, the first motor module 3-1-2 is fixed to the first mounting base 3-1-1 by means of threaded connection, the first power output disc 3-1-5 is fixed to the first motor module 3-1-2 by means of threaded connection, the first position sensor 3-1-3 is fixed to the first mounting base 3-1-1 by means of threaded connection at the tail of the first mounting base 3-1-1, the second induction block 3-2-5 is fixed to the first power output disc 3-1-5 by means of threaded connection, and the induction block passes through the hollow shaft of the first motor module 3-1-2 and maintains a 2-mm vertical gap from the first position sensor 3-1-3. The first bearing 3-1-4 is installed between the outer shell 2 and the first power output disc 3-1-5.

[0069] Maintaining a 2-mm vertical gap is the optimal working distance between the first position sensor 3-1-3 and the induction block.

[0070] In the second power module 3-2, the second mounting seat 3-2-1 is fixed to the first power output disc 3-1-5 in the first power module 3-1 by means of threaded connection. The second motor module 3-2-2 is fixed to the second mounting seat 3-2-1 by means of threaded connection. The second power output disc 3-2-4 is fixed to the second motor module 3-2-2 by means of threaded connection. The second position sensor 3-2-3 is fixed to the tail of the second mounting seat 3-2-1 by means of threaded connection with the second mounting seat 3-2-1. The second induction block 3-2-5 is fixed to the second power output disc 3-2-4 by means of threaded connection. The induction block passes through the hollow shaft of the second motor module 3-2-2 and maintains a 2-mm vertical gap with the second position sensor 3-2-3.

[0071] In the third power module 3-3, the rocker arm 3-3-1 is fixed to the second power output disc 3-2-4 in the second power module 3-2 by means of threaded connection. The second motor module 3-2-2 is fixed to the rocker arm 3-3-1 by means of threaded connection. The bearing seat 3-3-3 is fixed to the rocker arm 3-3-1 by means of threaded connection. The third power output disc 3-3-5 is fixed to the third motor module 3-3-2 by means of threaded connection. The target reporting sensor 3-3-6 is installed in the internal cavity of the rocker arm 3-3-1 and is fixed to the rocker arm 3-3-1 by means of threaded connection. The second bearing 3-3-4 is installed between the bearing seat 3-3-3 and the third power output disc 3-3-5.

[0072] Transmission principle:

[0073] As Figure 8 shown, the first motor module 3-1-2 drives the first power output disc 3-1-5 and drives the second power module 3-2 to rotate around the vertical axis 1; the second motor module 3-2-2 drives the second power module 3-2 to drive the third power module 3-3 to rotate around the horizontal axis; the third motor module 3-3-2 drives the third power output disc 3-3-5 to drive the target clip assembly 4 to rotate around the vertical axis 2.

[0074] The housing 2 and the first power output disc 3-1-5 are specially designed in structure to ensure that the limit angle range for the second power module 3-2 to rotate around the vertical axis 1 is -5° to 185° (the following limit angle ranges are not protection points).

[0075] As Figure 9 shown, the second mounting seat 3-2-1 and the power rocker arm 3-3-1 are specially designed in structure to ensure that the limit angle range for the third power module 3-3 to rotate around the horizontal axis is -5° to 95°.

[0076] The bearing block 3-3-3 and the third power output disk 3-3-5 are designed with a special structure to ensure that the limit angle range for the target clip assembly 4 to rotate around the vertical axis 2 is -5° to 185°.

[0077] It is designed that the vertical axis 1 coincides with the vertical axis 2.

[0078] The purpose of the coincidence of the vertical axis 1 and the vertical axis 2 is to ensure the minimum load moment of inertia.

[0079] Working principle:

[0080] After the power is turned on, the device starts self-checking and positioning. The self-checking and positioning principle is as follows:

[0081] The first motor module 3-1-2 drives the first power output disk 3-1-5 and drives the second power module 3-2 to rotate around the vertical axis 1 at a speed of 5 r / min until the first induction block 3-1-6 is exactly opposite to the first position sensor 3-1-3. At this time, the control circuit board 7-2 controls the first motor module 3-1-2 to set the current position as the positioning point, and then controls the first motor module 3-1-2 to rotate within the range of 5° to 185° relative to the positioning point (the actual absolute angle is 0° to 180°). The second motor module 3-2-2 drives the second power module 3-2 to drive the third power module 3-3 to rotate around the horizontal axis for positioning, and the principle is the same as the above principle. The third motor module 3-3-2 drives the third power output disk 3-3-5 to drive the target clip assembly 4 to rotate around the vertical axis 2 at a speed of 5 r / min until it is limited by the bearing block 3-3-3 at -5°. The third motor module 3-3-2 starts the stall mechanism. At this time, the control circuit board 7-2 controls the third motor module 3-3-2 to set the current position as the positioning point, and then controls the third motor module 3-3-2 to rotate within the range of 5° to 185° relative to the positioning point (the actual absolute angle is 0° to 180°).

[0082] During normal operation, the multi-degree-of-freedom tactical target can be controlled through the control terminal to achieve the movement of 3 degrees of freedom, and the 3-degree-of-freedom movements can be freely combined and switched to achieve various functions of the tactical target. The first motor module 3-1-2 drives the first power output disk 3-1-5 and drives the second power module 3-2 to rotate around the vertical axis 1; the second motor module 3-2-2 drives the second power module 3-2 to drive the third power module 3-3 to rotate around the horizontal axis; the third motor module 3-3-2 drives the third power output disk 3-3-5 to drive the target clip assembly 4 to rotate around the vertical axis 2.

[0083] The multi-degree-of-freedom tactical target can achieve various functions, as shown in Table 1:

[0084] Table 1

[0085]

[0086] In the table, "0" for the motor module indicates that the motor module is in a holding state and not participating in the movement, while "1" indicates that the motor module is participating in the movement.

[0087] Electrical control principle:

[0088] The electrical components are mainly divided into two parts: a power supply module and a target. The target contains a main control board, a Hall detection circuit board, a radio station, and a servo motor (including a servo driver) inside. The main functional components are as follows:

[0089] a) The wireless communication module is used to forward control commands and target status data between the target and the control system. The wireless local area network function is mainly used in indoor shooting ranges, and the wireless data transmission radio station can be extended and supported in outdoor shooting ranges;

[0090] b) The sensing and control module is used to receive control commands, dispatch the power and transmission devices of the target to execute actions, realize the required target output or target hiding function, and collect the target working status data (including target reporting data);

[0091] c) The power supply module provides corresponding power for the normal operation of each electrical component inside the target. According to different application scenarios, it can be divided into built-in or external types, and a rechargeable power supply or a power adapter can be used;

[0092] d) Cooperate with the built-in or external hit sensor to detect the hit signal when the PP target board or conductive target board is hit by a bullet;

[0093] The main functions of the main control board are as follows:

[0094] a) Power conversion and voltage regulation: Convert the input voltage into 12V, 5V, and 3.3V voltages;

[0095] b) Control communication part: One 232 communication port is externally connected to the radio station to realize wireless communication, and one 485 interface realizes the wired communication interface;

[0096] c) Communication expansion port: One 232 external program burning port and one 485 function expansion communication port

[0097] d) CAN interface: Connect to the servo motor driver to realize the control of the servo motor and the reading of the servo motor status;

[0098] e) Dual-color indicator light drive: Realize the functions of power-on indication, under-voltage indication, and fault indication;

[0099] f) Lighting drive: Use MOS transistors and PWM waves to drive to realize the brightness adjustment of the lighting lamp;

[0100] g) Hit detection: Can detect the built-in vibration hit sensor and the conductive target board;

[0101] h) Hall detection circuit: It can detect the target position, mainly detect the position of the up / down component, and detect the zero point of the blocked rotation positioning of the side rotation component and the rotation component;

[0102] i) Temperature and humidity sensor: It can detect the temperature and humidity inside the target.

[0103] j) Battery power detection: It can detect the battery power information in real time.

[0104] k) Fault detection types:

[0105] 1) Detect the overload fault of the motor;

[0106] 2) Detect the abnormal state (no data) of the temperature and humidity sensor;

[0107] 3) Abnormal target running position.

[0108] Communication principle:

[0109] The control terminal communicates wirelessly with the communication module through a communication converter. The communication module is installed inside the target body, sends the received control instructions to the target body, and sends the target state data or hit data to the handheld terminal.

[0110] After receiving the control instructions, the target body performs rotation, up / down, and side rotation display / hide actions. If the control instructions are related to the attitude switching component, they are sent to the attitude switching component in a wired communication manner through the CAN module to directly control the operation of the attitude switching component servo motor.

[0111] In addition, the target body also has an external communication interface and can perform wired communication with the outside through 485 communication.

[0112] This example has the following advantages:

[0113] 1) It has the up / down function;

[0114] 2) It has the side rotation function;

[0115] 3) It has the swaying function;

[0116] 4) It has the slewing function;

[0117] 5) All actions can be speed-adjusted;

[0118] 6) It has the function of automatically switching the attitude;

[0119] 7) It has the function of combined multi-action movement;

[0120] 8) It has the embedded hit target reporting function.

[0121] The present invention provides a multi-degree-of-freedom tactical target and a control method. There are many methods and ways to specifically implement this technical solution. The above description is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. Each component not clearly defined in this embodiment can be implemented by using the prior art.

Claims

1. A multi-degree-of-freedom tactical target, characterized in that: It comprises a base (1), a housing (2), a power transmission component (3), a target clamping component (4), a power supply component (5), a communication component (6), an electrical control component (7), and an external battery (8); The base (1) is used to support and install the device body, and the base (1) and the housing (2) are fixed by means of quick-release screws; The external battery (8) is placed on the base (1); one end of the external battery (8) is connected to the output interface on the external battery (8) through a special cable, and the other end is connected to the power input interface on the housing (2) to realize power supply to the device; The housing (2) is used to encapsulate a power transmission component (3), a power supply component (5), a communication component (6), and an electrical control component (7).

2. A multi-degree-of-freedom tactical target according to claim 1, characterized in that: The power transmission assembly (3) comprises a first power module (3-1), a second power module (3-2), and a third power module (3-3); The first power module (3-1) comprises a first mounting seat (3-1-1), a first motor module (3-1-2), a first position sensor (3-1-3), a first bearing (3-1-4), a first power output disc (3-1-5), and a first induction block (3-1-6); The first bearing (3-1-4) is installed between the housing (2) and the first power output disc (3-1-5); the outer ring of the first bearing (3-1-4) is connected to the housing (2), and the inner ring is connected to the first power output disc (3-1-5); The first induction block (3-1-6) is connected to the first power output disc (3-1-5) by screws; The second power module (3-2) comprises a second mounting seat (3-2-1), a second motor module (3-2-2), a second position sensor (3-2-3), a second power output disk (3-2-4), and a second induction block (3-2-5); The third power module (3-3) comprises a rocker arm (3-3-1), a third motor module (3-3-2), a bearing seat (3-3-3), a second bearing (3-3-4), a third power output disc (3-3-5), and a target sensor (3-3-6); the second bearing (3-3-4) is installed between the bearing seat (3-3-3) and the third power output disc (3-3-5); The third motor module (3-3-2) is connected to the rocker arm (3-3-1) by screws; The third power output disk (3-3-5) and the output shaft of the third motor module (3-3-2) are connected by screws, the second bearing (3-3-4) is supported between the third power output disk (3-3-5) and the bearing seat (3-3-3), and the bearing seat (3-3-3) and the rocker arm (3-3-1) are connected by screws; The first mounting seat (3-1-1) is fixed to the housing (2) by means of a threaded connection, the first motor module (3-1-2) is fixed to the first mounting seat (3-1-1) by means of a threaded connection, the first power output disk (3-1-5) is fixed to the first motor module (3-1-2) by means of a threaded connection, the first position sensor (3-1-3) is fixed to the tail of the first mounting seat (3-1-1) by means of a threaded connection, the second sensing block (3-2-5) is fixed to the first power output disk (3-1-5) by means of a threaded connection, the second sensing block (3-2-5) passes through the hollow shaft of the first motor module (3-1-2) and maintains a vertical gap with the first position sensor (3-1-3); the first bearing (3-1-4) is installed between the housing (2) and the first power output disk (3-1-5); The second mounting seat (3-2-1) is fixed to the first power output disc (3-1-5) by means of threaded connection, the second motor module (3-2-2) is fixed to the second mounting seat (3-2-1) by means of threaded connection, the second power output disc (3-2-4) is fixed to the second motor module (3-2-2) by means of threaded connection, the second position sensor (3-2-3) is fixed to the tail of the second mounting seat (3-2-1) by means of threaded connection, the second induction block (3-2-5) is fixed to the second power output disc (3-2-4) by means of threaded connection, and the second induction block (3-2-5) passes through the hollow shaft of the second motor module (3-2-2) and maintains a vertical gap with the second position sensor (3-2-3); The rocker arm (3-3-1) is fixed to the second power output disk (3-2-4) in the second power module (3-2) by means of threaded connection, the second motor module (3-2-2) is fixed to the rocker arm (3-3-1) by means of threaded connection, the bearing seat (3-3-3) is fixed to the rocker arm (3-3-1) by means of threaded connection, and the third power output disk (3-3-5) is fixed to the third motor module (3-3-2) by means of threaded connection; the target reporting sensor (3-3-6) is installed in the internal cavity of the rocker arm (3-3-1) and is fixed to the rocker arm (3-3-1) by means of threaded connection.

3. A multi-degree-of-freedom tactical target according to claim 2, characterized in that: Magnetic steel is installed in the first induction block (3-1-6) and the second induction block (3-2-5).

4. A multi-degree-of-freedom tactical target according to claim 3, characterized in that: The target clamp assembly (4) comprises a target clamp fixing tube (4-1), a target clamp telescopic tube (4-2), a spring buckle (4-3), an adjustable tube clamp (4-4), a dynamic pressure plate (4-5), and an adjustable screw (4-6); The inner wall size of the target clamp fixing tube (4-1) is slightly larger than the outer wall size of the target clamp telescopic tube (4-2); the target clamp telescopic tube (4-2) is sleeved in the target clamp fixing tube (4-1); a U-shaped notch is designed on the top of the target clamp fixing tube (4-1); and the adjustable tube clamp (4-4) is installed on the top of the target clamp fixing tube (4-1); When the adjustable tube clamp (4-4) is locked, the target clamp telescopic tube (4-2) cannot slide in the target clamp fixed tube (4-1); when the adjustable tube clamp (4-4) is released, the target clamp telescopic tube (4-2) can slide in the target clamp fixed tube (4-1); The spring buckle (4-3) is installed in the target clamp telescopic tube (4-2), and two elastic protrusions are protruding on the outer wall of the target clamp telescopic tube (4-2). When the elastic protrusions are pressed down, the spring buckle (4-3) can be flush with the outer wall of the target clamp telescopic tube (4-2), and when released, the spring buckle (4-3) pops up; The target clamp fixing tube (4-1) is provided with a notch, and the two elastic protrusions are located in the notch to prevent the target clamp telescopic tube (4-2) from rotating relative to the target clamp fixing tube (4-1) and from falling out.

5. A multi-degree-of-freedom tactical target according to claim 4, characterized in that: The dynamic pressure plate (4-5) is connected to the target clamp fixing tube (4-1) via an adjustable screw (4-6), and the adjustable screw (4-6) can be adjusted to achieve movement of the dynamic pressure plate (4-5) relative to the target clamp fixing tube (4-1).

6. A multi-degree-of-freedom tactical target according to claim 5, characterized in that: The mounting end of the target clamp fixing tube (4-1) is designed as a flat shaft structure, which is mounted in the U-shaped groove structure of the third power output disc (3-3-5) in the power transmission assembly (3) and fixed with screws.

7. A multi-degree-of-freedom tactical target according to claim 6, characterized in that: The power supply assembly (5) comprises a power supply fixing frame (5-1) and a power supply module (5-2); The power module (5-2) and the communication component (6) are mounted on the power fixing frame (5-1) by means of screws.

8. A multi-degree-of-freedom tactical target according to claim 7, characterized in that: The electrical control component (7) comprises a circuit board fixing frame (7-1) and a control circuit board (7-2); The control circuit board (7-2) is mounted on the fixing frame (7-1) by means of screws.

9. A multi-degree-of-freedom tactical target control method, characterized in that: include: A transmission method and a working method, wherein the transmission method comprises: The first motor module (3-1-2) drives the first power output disk (3-1-5) and drives the second power module (3-2) to rotate around a vertical axis 1; the second motor module (3-2-2) drives the second power module (3-2) to drive the third power module (3-3) to rotate around a horizontal axis; the third motor module (3-3-2) drives the third power output disk (3-3-5) to drive the target clamp assembly (4) to rotate around a vertical axis 2; the vertical axis 1 is the center line of the output shaft of the first motor module (3-1-2), the vertical axis 2 is the center line of the output shaft of the third motor module (3-3-2), and the horizontal axis is the center line of the output shaft of the second motor module (3-2-2); The housing (2) and the first power output disc (3-1-5) ensure that the second power module (3-2) rotates around the vertical axis 1 within a limit angle range of -5° to 185° through structural limitation. The second mounting seat (3-2-1) and the power rocker arm (3-3-1) ensure that the limit angle range of the third power module (3-3) rotating around the horizontal axis is -5° to 95° through structural limitation; The bearing seat (3-3-3) and the third power output disc (3-3-5) ensure that the target clamp assembly (4) rotates around the vertical axis 2 within a limit angle range of -5° to 185° through a structural limit design; The vertical axis 1 is collinear with the vertical axis 2 .

10. The method according to claim 9, characterized in that The working method comprises: After the power is turned on, the multi-degree-of-freedom tactical target starts self-checking and positioning: the first motor module (3-1-2) drives the first power output disk (3-1-5) and drives the second power module (3-2) to rotate around the vertical axis 1 at a speed of 5 r / min until the first sensing block (3-1-6) is just opposite to the first position sensor (3-1-3), at which time the control circuit board (7-2) controls the first motor module (3-1-2) to set the current position as the positioning point, and then controls the first motor module (3-1-2) to rotate within a range of 5° to 185° relative to the positioning point; The third motor module (3-3-2) drives the third power output disk (3-3-5) to drive the target clamp assembly (4) to rotate around the vertical axis 2 at a speed of 5 r / min to -5° and is limited by the bearing seat (3-3-3). The third motor module (3-3-2) starts the blocking mechanism. At this time, the control circuit board (7-2) controls the third motor module (3-3-2) to set the current position as the positioning point, and then controls the third motor module (3-3-2) to rotate within a range of 5° to 185° relative to the positioning point; During normal operation, the multi-degree-of-freedom tactical target is controlled by the control terminal to achieve 3-degree-of-freedom movement, and the 3-degree-of-freedom movement can be freely combined and switched; The first motor module (3-1-2) drives the first power output disk (3-1-5) and drives the second power module (3-2) to rotate around a vertical axis 1; the second motor module (3-2-2) drives the second power module (3-2) to drive the third power module (3-3) to rotate around a horizontal axis; the third motor module (3-3-2) drives the third power output disk (3-3-5) to drive the target clamp assembly (4) to rotate around a vertical axis 2.

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