Differential rotating projectile body firing device based on multiple wheel sets

Abstract

The invention discloses a multi-wheel-set-based differential rotating projectile body firing gear which comprises a medium container, a launching device, a steering device, a reciprocating type filling device, a control unit, a supporting beam, an operating system and a power source. The medium container serves as an overall base to make contact with the ground, and the medium container comprises a connecting table arranged in the center of the top; the steering device is installed on the connecting table. According to the multi-wheel-set-based differential rotating projectile body firing device under the complex conditions of different firing speeds, different firing rotating directions, different rotating angular speeds and the like, the research performance of the projectile body firing state in the high-speed projectile body firing state is improved, and the impact dynamics performance of high-speed projectile body firing is optimized; and meanwhile, the continuity of a multi-projectile launching experiment is improved, and the controllability and high efficiency of initial conditions for firing projectiles are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of test equipment, and in particular to a differential rotation projectile firing device based on multiple wheel sets. Background Art

[0002] The launch speed and rotational angular velocity of a projectile are fundamental issues in the study of projectile ejection. The launch speed affects the range and power of the projectile, and the rotational angular velocity affects the stability of the projectile's flight attitude. Compared with conventional firing devices, the differential firing device controlled by multiple wheel sets can achieve integrated control of projectile launch and spin-up, greatly improving the firing efficiency and application scope of the firing device. Therefore, there are essential differences between conventional launch and differential launch. Generally, the firing device has to work under different working conditions and technical requirements. Therefore, the differential rotation launch of the projectile is a typical launch problem in the study of the firing state of high-speed projectiles.

[0003] Firing devices such as gunpowder, firing pins, and cylinders are mostly used to achieve the launch of projectiles, and guiding devices such as rifling and guiding members are mostly used to provide the rotational angular velocity of the projectiles. However, conventional firing devices cannot conveniently control the launch speed and rotational angular velocity of projectiles, and the projectiles themselves cause significant wear to the firing device. The disadvantages are that the firing environment is relatively fixed (it takes a long time to replace the power device required for firing), and the projectile firing environment is extremely harsh, with many uncontrollable risk factors during launch (such as chamber explosion), which has great limitations for studying the projectile launch state under various complex conditions. Therefore, how to develop a differential rotation projectile firing device based on multiple wheel sets to achieve controllability of the projectile launch speed and rotational angular velocity, while making the launch angle range controllable and meeting the requirements of stable firing conditions. Summary of the Invention

[0004] The purpose of the present invention is to provide a differential rotation projectile firing device based on multiple wheel sets, which solves the problem that the existing conventional firing device cannot control the projectile launch speed and rotational angular velocity, improves the researchability of the projectile launch state under the firing state of high-speed projectiles, optimizes the impact dynamics performance of high-speed projectile firing, while improving the coherence of multi-projectile launch experiments and ensuring the controllability and efficiency of the initial conditions of the fired projectiles.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] The present invention relates to a differential rotation projectile firing device based on multiple wheel sets, which includes a medium container, a launching device, a steering device, a reciprocating loading device, a control unit, a support beam, an operating system, and a power supply. The medium container is in contact with the ground as the overall base. The medium container includes a connecting platform arranged at the center of the top. The steering device is installed on the connecting platform. The launching device, the steering device, and the reciprocating loading device are arranged in sequence to form a loading and launching line. The launching device and the reciprocating loading device are connected by bolt groups and arranged in series on four support beams on both sides. The steering device is installed at the center of gravity of the four support beams on both sides. The operating system is installed at the rear right of the top of the medium container. The control unit is installed on one side of the operating system, in front of the launching device on the support beam, inside the steering device, and inside the reciprocating loading device. The power supply is installed in the reserved power supply compartment below the operating system. Among them, the launching device includes a front isolation baffle, a rear isolation baffle, friction wheel A, friction wheel B, friction wheel C, a friction wheel base, reduction motor A, reduction motor B, and reduction motor C. The front isolation baffle and the rear isolation baffle are fixed on the support beam. Friction wheel A, friction wheel B, and friction wheel C are installed in a triangular shape inside the friction wheel base. The front isolation baffle and the rear isolation baffle are connected by the friction wheel base in the middle to form a launching area. The rotating ends of the reduction motor A, reduction motor B, and reduction motor C are connected to the friction wheel A, friction wheel B, and friction wheel C in an interference fit respectively.

[0007] Further, the friction wheel A, friction wheel B, friction wheel C, reduction motor A, reduction motor B, and reduction motor C satisfy the following formula:

[0008] ω = 2πn

[0009] V = ω * R

[0010] Where, ω is the rotational angular velocity of the corresponding friction wheel, n is the rotational speed of the corresponding reduction motor, V is the projectile launching speed, and R is the radius of the corresponding friction wheel.

[0011] Further, the medium container further includes a support frame, a front observation window, a side observation window, a rear observation window, a bottom observation window, a pressure-bearing column, bolt group A, and bolt group B. The pressure-bearing column is connected to the top and bottom of the support frame through the bolt group B. Reserved windows are provided on the support frame. The front observation window, the side observation window, the rear observation window, and the bottom observation window are embedded in the reserved windows. Reserved bolt holes of the bolt group A are arranged on the connecting platform.

[0012] Further, the launching device further includes an emission barrel, a motor base, a rubber damping track, a reinforcing iron ring, bolt group C, bolt group D, bolt group E, a deep groove ball bearing group, a loading platform, a locking nut A and corresponding accessories. The emission barrel is fastened to the front isolation baffle by bolt group C. The front isolation baffle and the rear isolation baffle are fixed on the support beam by the locking nut A and related fasteners. The friction wheel base connects the front isolation baffle and the rear isolation baffle by bolt group D. The deep groove ball bearing group is connected to the rotating ends of the reduction motor A, the reduction motor B and the reduction motor C. The reduction motor A, the reduction motor B and the reduction motor C are installed on the motor base. The motor base is connected to the friction wheel base by bolt group E. The rubber damping track penetrates and connects to the rear isolation baffle. The rear end of the rubber damping track penetrates and connects to the loading platform. Two of the reinforcing iron rings are arranged on the rubber damping track at equal intervals with the loading platform.

[0013] Further, the steering device includes a bogie, a steering gear unit A, a connection module and bolt group F. The bogie is connected to the connection platform by bolt group F. The steering gear unit A is installed inside the bogie. The connection module is installed on the rotating shaft of the steering gear unit A. The connection hole of the connection module is installed in interference fit with the rotating shaft of the steering gear unit A.

[0014] Further, the reciprocating loading device includes a thrust baffle, a loading rod, a rotating shaft A, a rotating shaft B, a connecting rod, a crank, a support frame body, a bracket bolt plate, a steering gear unit B, bolt group G, bolt group H, bolt group I and a locking nut C. The thrust baffle is connected to the loading platform by bolt group G. The loading rod penetrates through the central reserved hole of the thrust baffle. A hole is left at the end of the loading rod and is connected to the connecting rod by clearance fit through rotating shaft A. The connecting rod and the crank are connected by clearance fit through rotating shaft B. The end of the connecting rod is installed in interference fit with the rotating shaft of the steering gear unit B. The steering gear unit B is installed inside the support frame body. The steering gear unit B and the support frame body are axially clamped by the bracket bolt plate. The support frame body is longitudinally arranged on the support beam. The support frame body, bolt group I and the locking nut C form a set of fine adjustment devices. By rotating the locking nut C, the extrusion force of the support frame body on the support beam can be adjusted, and thus the support frame body can be manually pushed to move along the support beam. The distance between the front end face of the support frame body and the rear end face of the thrust baffle is the sum of the radius r of the friction wheel A, the length L of the loading rod, the length l1 of the connecting rod and the length l2 of the crank.

[0015] Further, the control unit includes a signal transmitter, a feedback display screen, a signal receiver, electronic speed governor A, electronic speed governor B, electronic speed governor C, lock nut B, damping ring, Dupont wire and an internal computer. The signal transmitter is installed on the operating system. The feedback display screen is embedded in a reserved hole of the operating system. The internal computer is installed in a reserved power supply compartment below. The signal receiver is installed on the two support beams on the upper side, fixed to the front end of the front isolation baffle with the lock nut B and the damping ring, and connected to the electronic speed governor A, the electronic speed governor B, the electronic speed governor C, the steering gear unit A and the steering gear unit B through the Dupont wire and an extension wire. The electronic speed governor A is installed on the two support beams on the left side, fixed to the front end of the front isolation baffle with the lock nut B and the damping ring, and connected to the reduction motor A through an electric wire. The electronic speed governor B is installed on the two support beams on the left side, fixed to the front end of the front isolation baffle with the lock nut B and the damping ring, and connected to the reduction motor B through an electric wire. The electronic speed governor C is installed on the two support beams on the right side, fixed to the front end of the front isolation baffle with the lock nut B and the damping ring, and connected to the reduction motor C through an electric wire.

[0016] Further, the operating system includes an operating console, speed handle A, speed handle B, speed handle C, angle knob, loading button, emergency stop button. The operating console is installed on the top of the medium container. The speed handle A, the speed handle B and the speed handle C are installed side by side in a reserved opening of the operating console. The angle knob is installed on the right side of the speed handle C. The loading button is installed in a reserved hole on the right side of the feedback display screen. The emergency stop button is installed on the right side of the loading button. The operating console, the speed handle A, the speed handle B, the speed handle C and the angle knob are connected to the internal computer through electric wires. The signal transmitter is installed on the left side of the speed handle A on the top of the operating console. The feedback display screen is embedded in a reserved hole of the operating console.

[0017] Further, the power supply includes power supply A and power supply B. The electric wire of the power supply A supplies power to the electronic speed governor A, electronic speed governor B and electronic speed governor C through a wiring hole at the rear of the operating console. The power supply B supplies power to the internal computer through an electric wire.

[0018] Compared with the prior art, the beneficial technical effects of the present invention are:

[0019] The layout is compact and reasonable, which greatly improves the safety during the projectile launch process, realizes the integrated control of the projectile launch speed and the rotational angular velocity, and prolongs the service life of the firing device. At the same time, multiple friction wheel groups are provided to expand the functions of the device. The overall device optimizes the impact dynamics performance of the high-speed projectile firing, improves the coherence of the multi-projectile launch experiment, and ensures the controllability and efficiency of the initial conditions of the fired projectile. Brief Description of the Drawings

[0020] The present invention will be further described below in conjunction with the drawings.

[0021] Figure 1 Schematic diagram of the differential rotation projectile firing device based on multiple wheel groups of the present invention;

[0022] Figure 2 Schematic diagram of the connection structure between the launch device and the reciprocating loading device of the present invention;

[0023] Figure 3 Partial schematic diagram of the launch device of the present invention;

[0024] Figure 4 Partial schematic diagram of the launch device of the present invention;

[0025] Figure 5 Schematic diagram of the steering device of the present invention;

[0026] Figure 6 Schematic diagram of the reciprocating loading device of the present invention;

[0027] Figure 7 Partial schematic diagram of the control unit of the present invention;

[0028] Figure 8 Partial schematic diagram of the control unit of the present invention;

[0029] Explanation of reference numerals: 1, medium container; 2, launch device; 3, steering device; 4, reciprocating loading device; 5, control unit; 6, support beam; 7, operating system; 8, power supply;

[0030] 101, support frame; 102, front observation window; 103, side observation window; 104, rear observation window; 105, bottom observation window; 106, connection platform;

[0031] 201, exit barrel; 202, front isolation baffle; 203, rear isolation baffle; 204, friction wheel A; 205, friction wheel B; 206, friction wheel C; 207, friction wheel base; 208, reduction motor A; 209, reduction motor B; 210, reduction motor C; 211, motor base; 212, rubber damping track; 213, reinforcement iron ring; 214, loading platform;

[0032] 301, Bogie; 302, Rudder Unit A; 303, Connection Module; 304, Bolt Group F;

[0033] 401, Thrust Baffle; 402, Loading Rod; 403, Rotating Shaft A; 404, Rotating Shaft B; 405, Connecting Rod; 406, Crank; 407, Support Frame Body;

[0034] 501, Signal Transmitter; 502, Return Display Screen; 503, Signal Receiver; 504, Electronic Speed Governor A; 505, Electronic Speed Governor B; 506, Electronic Speed Governor C; 507, Locking Nut B; 508, Damping Ring; 509, Dupont Wire; 510, Built-in Computer. Detailed Implementation Manner

[0035] As Figure 1-8 shown, a differential rotation projectile firing device based on multiple wheel sets includes a medium container 1, a launching device 2, a steering device 3, a reciprocating loading device 4, a control unit 5, a support beam 6, an operating system 7, and a power supply 8. The medium container 1 contacts the ground as the overall base. The medium container 1 includes a connection platform 106 provided at the center of the top. The steering device 3 is installed on the connection platform 106. The launching device 2, the steering device 3, and the reciprocating loading device 4 are arranged in sequence to form a loading and launching line. The launching device 2 and the reciprocating loading device 4 are connected by bolt groups and arranged in series on the four support beams 6 on both sides. The steering device 3 is installed at the center of gravity of the four support beams 6 on both sides. The operating system 7 is installed at the upper right rear of the medium container 1. The control unit 5 is installed on one side of the operating system 7, in front of the launching device 2 on the support beam 6, inside the steering device 3, and inside the reciprocating loading device 4. The power supply 8 is installed in the reserved power supply compartment below the operating system 7. Among them, the launching device 2 includes a front isolation baffle 202, a rear isolation baffle 203, friction wheel A 204, friction wheel B 205, friction wheel C 206, a friction wheel base 207, a reduction motor A 208, a reduction motor B 209, and a reduction motor C 210. The front isolation baffle 202 and the rear isolation baffle 203 are fixed on the support beam 6 to provide direction guidance for the projectile launch. Friction wheel A 204, friction wheel B 205, and friction wheel C 206 are installed in a triangular shape inside the friction wheel base 207. The front isolation baffle 202 and the rear isolation baffle 203 are connected by the friction wheel base 207 in the middle to form a launch interval to prevent the projectile from being affected by other devices during the acceleration stage. The rotating ends of the reduction motor A 208, the reduction motor B 209, and the reduction motor C 210 are connected to friction wheel A 204, friction wheel B 205, and friction wheel C 206 by interference fit.

[0036] Among them, the friction wheel A204, friction wheel B205, friction wheel C206, reduction motor A208, reduction motor B209, and reduction motor C210 satisfy the following formula. Since the reduction motor A208, reduction motor B209, and reduction motor C210 are coaxially connected to the corresponding friction wheel A204, friction wheel B205, and friction wheel C206, the rotational angular velocity of the corresponding reduction motor is equal to the rotational angular velocity of the corresponding friction wheel:

[0037] ω = 2πn

[0038] The launch principle of the corresponding friction wheel is that under the condition of equal rotational speed, its rotational linear velocity is the same as the launch velocity of the projectile in both direction and magnitude. By calculating the radius and angular velocity of the corresponding friction wheel, the linear velocity of the corresponding friction wheel can be known, which is also the launch velocity of the projectile:

[0039] V = ω * R

[0040] Where ω is the rotational angular velocity of the corresponding friction wheel, n is the rotational speed of the corresponding reduction motor, V is the launch velocity of the projectile, and R is the radius of the corresponding friction wheel.

[0041] As Figure 1 shown, the medium container 1 further includes a support frame 101, a front observation window 102, a side observation window 103, a rear observation window 104, a bottom observation window 105, pressure-bearing columns, bolt group A, and bolt group B. The pressure-bearing columns are connected to the top and bottom of the support frame 101 through bolt group B. A reserved window is provided on the support frame 101. The front observation window 102, side observation window 103, rear observation window 104, and bottom observation window 105 are embedded in the reserved window. Reserved bolt holes of bolt group A are arranged on the connecting platform 106. Through the use of the front observation window 102, side observation window 103, rear observation window 104, and bottom observation window 105, it is convenient to observe the internal situation.

[0042] As Figures 2-4As shown, the launching device 2 further includes an exit barrel 201, a motor base 211, a rubber damping track 212, a reinforcing iron ring 213, a loading platform 214, bolt group C, bolt group D, bolt group E, a deep groove ball bearing group, a locking nut A and corresponding accessories. The exit barrel 201 and the front isolation baffle 202 are fastened by bolt group C. The front isolation baffle 202 and the rear isolation baffle 203 are fixed on the support beam 6 by the locking nut A and related fasteners. The friction wheel base 207 is connected to the front isolation baffle 202 and the rear isolation baffle 203 by bolt group D. The deep groove ball bearing group is connected to the rotating ends of the reduction motor A 208, the reduction motor B 209, and the reduction motor C 210. The reduction motor A 208, the reduction motor B 209, and the reduction motor C 210 are installed on the motor base 211. The motor base 211 is connected to the friction wheel base 207 by bolt group E. The rubber damping track 212 is connected through the rear isolation baffle 203, and the distance that the front section extends out of the rear isolation baffle 203 is 10 mm. The rear end of the rubber damping track 212 is connected through the loading platform 214. Two reinforcing iron rings 213 and the loading platform 214 are arranged on the rubber damping track 212 at equal intervals, and the equal interval is 55 mm.

[0043] As Figure 1 and Figure 5 shown, the steering device 3 includes a bogie 301, a steering gear unit A 302, a connection module 303 and a bolt group F 304. The bogie 301 is connected to the connection platform 106 by the bolt group F 304. The steering gear unit A 302 is installed inside the bogie 301 to provide the power required to change the launching angle. At a height of 150 mm, the connection module 303 is installed on the rotating shaft of the steering gear unit A 302, and the connection hole of the connection module 303 is installed in interference fit with the rotating shaft of the steering gear unit A 302.

[0044] As Figure 1 、 Figure 3 and Figure 5As shown, the reciprocating loading device 4 includes a thrust baffle 401, a loading rod 402, a rotating shaft A 403, a rotating shaft B 404, a connecting rod 405, a crank 406, a support frame main body 407, a support bolt plate, a steering gear set B, a bolt group G, a bolt group H, a bolt group I, and a locking nut C. The thrust baffle 401 is connected to the loading platform 214 through the bolt group G. The loading rod 402 passes through the central reserved hole of the thrust baffle 401. The front end thereof is in the style of a 1 / 3 hollow sphere, increasing the contact area with the projectile. The rear end forms a crank and connecting rod mechanism together with the connecting rod 405 and the crank 406. The movement of the crank and connecting rod mechanism is powered by the steering gear set B. There is a hole at the end of the loading rod 402, and it is connected with the connecting rod 405 through the rotating shaft A 403 with a clearance fit. The connecting rod 405 and the crank 406 are connected through the rotating shaft B 404 with a clearance fit. The end of the connecting rod 405 is installed with an interference fit on the rotating shaft of the steering gear set B. The steering gear set B is installed inside the support frame main body 407, and the steering gear set B and the support frame main body 407 are axially clamped through the support bolt plate. The support frame main body 407 is longitudinally arranged on the support beam 6. The support frame main body 407, the bolt group I, and the locking nut C form a set of fine adjustment devices. By rotating the locking nut C, the extrusion force of the support frame main body 407 on the support beam 6 can be adjusted, and then the support frame main body 407 can be manually pushed to move along the support beam 6. The distance between the front end face of the support frame main body 407 and the rear end face of the thrust baffle 401 is the sum of the radius r of the friction wheel A 204, the length L of the loading rod 402, the length l1 of the connecting rod 405, and the length l2 of the crank 406. After adjusting the distance, tighten the locking nut C to lock it.

[0045] As Figure 1 , Figure 2 , Figure 7 and Figure 8As shown in the figure, the control unit 5 includes a signal transmitter 501, a feedback display screen 502, a signal receiver 503, an electronic speed governor A 504, an electronic speed governor B 505, an electronic speed governor C 506, a lock nut B 507, a damping ring 508, a Dupont wire 509 and a built-in computer 510. The signal transmitter 501 is installed on the operating system 7. The feedback display screen 502 is embedded in the reserved hole of the operating system 7. The built-in computer 510 is installed in the reserved power supply compartment below. The signal receiver 503 is installed on the two support beams 6 on the upper side, fixed to the front end of the front isolation baffle 202 with the lock nut B 507 and the damping ring 508, and connected to the electronic speed governor A 504, the electronic speed governor B 505, the electronic speed governor C 506, the steering gear unit A 302 and the steering gear unit B through the Dupont wire 509 and the extension wire. The electronic speed governor A 504 is installed on the two support beams 6 on the left side, fixed to the front end of the front isolation baffle 202 with the lock nut B 507 and the damping ring 508, and connected to the reduction motor A 208 through an electric wire. The electronic speed governor B 505 is installed on the two support beams 6 on the left side, fixed to the front end of the front isolation baffle 202 with the lock nut B 507 and the damping ring 508, and connected to the reduction motor B 209 through an electric wire. The electronic speed governor C 506 is installed on the two support beams 6 on the right side, fixed to the front end of the front isolation baffle 202 with the lock nut B 507 and the damping ring 508, and connected to the reduction motor C 210 through an electric wire.

[0046] Among them, the operating system 7 includes an operating console, a speed handle A, a speed handle B, a speed handle C, an angle knob, a loading button, and an emergency stop button. The operating console is installed on the top of the medium container 1. The speed handle A, the speed handle B and the speed handle C are installed side by side in the reserved openings of the operating console. The angle knob is installed on the right side of the speed handle C. The loading button is installed in the reserved hole on the right side of the feedback display screen 502. The emergency stop button is installed on the right side of the loading button. The operating console, the speed handle A, the speed handle B, the speed handle C, and the angle knob are connected to the built-in computer 510 through electric wires. The signal transmitter 501 is installed on the left side of the speed handle A on the top of the operating console. The feedback display screen 502 is embedded in the reserved hole of the operating console.

[0047] Among them, the power supply 8 includes a power supply A and a power supply B. The electric wire of the power supply A supplies power to the electronic speed governor A 504, the electronic speed governor B 505, and the electronic speed governor C 506 through the wiring hole at the rear of the operating console. The power supply B supplies power to the built-in computer 510 through an electric wire.

[0048] During use, the steering gear set A302 is connected to the corresponding channel of the signal receiver 503 through the Dupont wire 509 and the extension wire to receive the angle change instruction of the signal receiver 503; the steering gear set B is connected to the corresponding channel of the signal receiver 503 through the Dupont wire 509 and the extension wire to receive the loading action instruction of the signal receiver 503; the signal transmitter 501 sends the control instructions from the speed handle, angle knob, loading button and emergency stop button to the signal receiver 503, and then the signal receiver 503 controls the electronic speed governors and steering gears on the corresponding channels to work; after receiving the instruction from the signal transmitter 501, it executes the corresponding command; the information feedback end is the feedback display screen 502, which can digitally display the rotation speeds of the respective reduction motors, the converted projectile launch speed and launch angle to the operator; the three speed handles respectively control the rotation speeds of the three reduction motors, the angle knob controls the angle of the steering gear set A302, the loading button controls the reciprocating loading system to work, and the emergency stop button cuts off the power supply to stop all the work of the device.

[0049] The working process of the present invention is as follows:

[0050] First, move the support frame main body 407 to a suitable distance from the thrust baffle 401. The distance requirement can be adjusted according to x = the radius r of the friction wheel A204 + the length L of the loading rod 402 + the length l1 of the connecting rod 405 + the length l2 of the crank 406, or it can be adjusted according to the length of the projectile by itself to a distance that can ensure the projectile is sent into the launch area. After adjusting the distance, tighten the bolt group I and the locking nut C to lock the support frame main body 407 and the support beam 6; perform the filling of the striking medium. Inject the experimental medium into the medium container 1 through the tunnel above the medium container 1. It is optimal to fill 2 / 3 of the volume of the medium container 1 with the volume of the test medium; then, check whether there is a projectile or foreign object in the launch area to ensure that no object enters the launch area; turn on the power supply B, turn on the built-in computer 510, and then perform speed identification. Push the speed handle A, speed handle B, and speed handle C to the highest gear in sequence, turn on the power supply A, and wait for the corresponding electronic speed governors A504, B505, and C506 to emit a prompt sound. Then, push all the speed handles (speed handle A, speed handle B, and speed handle C) to the 0% gear. Wait for all the electronic speed governors (electronic speed governors A504, B505, and C506) to emit a prompt sound again, and the speed identification is completed; perform the loading test. Press the loading button and wait for 10 - 15 s to observe the no-load operation status of the device. It is normal if the loading rod 402 can perform the reciprocating loading work smoothly; perform the overall rotation test of the machine. Rotate the angle knob to the maximum value in both directions respectively. It is normal if there is no wire harness obstruction and the overall device can rotate smoothly to the maximum value. The experimental preparation work is completed.

[0051] During the experiment, ensure that all speed handle gears are at 0%, ensure that the reciprocating loading device 4 is in a stopped state, rotate the angle knob in the +45° direction, send the projectile into the loading platform 214, gradually release the hand until it is confirmed that the projectile is caught by the rubber damping track 212, and the personnel withdraw to the outside of the observation window of the medium container 1; rotate the angle button to make the guiding direction of the firing barrel reach the preset angle of the experiment, and push the speed handle A, speed handle B, and speed handle C to the preset gears of the experiment in sequence according to the required firing speed of the experiment, press the loading button, and the loading rod 402 drives the projectile into the firing area under the drive of the crank-link mechanism driven by the steering gear group B, and then the projectile is fired; the working principle of the test equipment of the present invention is mainly that the friction wheel rotates to provide friction force for the projectile, and multiple directions of friction force can be provided for the projectile through the layout of multiple wheel sets. When the wheel sets rotate differentially, the firing device gives the projectile a rotational angular velocity to make the projectile rotate and fire, the steering gear can control the firing angle, and the reciprocating loading device 4 works independently to improve the overall safety of the device.

[0052] The embodiments described above are only descriptions of the preferred modes of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A differential rotation projectile firing device based on multiple wheel sets, characterized in that: It includes a medium container (1), a launching device (2), a steering device (3), a reciprocating loading device (4), a control unit (5), a support beam (6), an operating system (7) and a power supply (8). The medium container (1) contacts the ground as the overall base. The medium container (1) includes a connection platform (106) arranged at the center of the top. The steering device (3) is installed on the connection platform (106). The launching device (2), the steering device (3) and the reciprocating loading device (4) are arranged in sequence to form a loading and launching line. The launching device (2) and the reciprocating loading device (4) are connected by a bolt group and arranged in series on four support beams (6) on both sides. The steering device (3) is installed at the center of gravity of the four support beams (6) on both sides. The operating system (7) is installed at the rear right of the top of the medium container (1). The control unit (5) is installed on one side of the operating system (7), in front of the launching device (2) on the support beam (6), inside the steering device (3) and inside the reciprocating loading device (4). The power supply (8) is installed in the reserved power supply compartment below the operating system (7). Among them, the launching device (2) includes a front isolation baffle (202), a rear isolation baffle (203), a friction wheel A (204), a friction wheel B (205), a friction wheel C (206), a friction wheel base (207), a reduction motor A (208), a reduction motor B (209) and a reduction motor C (210). The front isolation baffle (202) and the rear isolation baffle (203) are fixed on the support beam (6). The friction wheel A (204), the friction wheel B (205) and the friction wheel C (206) are installed in a triangular shape inside the friction wheel base (207). The front isolation baffle (202) and the rear isolation baffle (203) are connected by the friction wheel base (207) in the middle to form a launching area. The rotating ends of the reduction motor A (208), the reduction motor B (209) and the reduction motor C (210) are connected to the friction wheel A (204), the friction wheel B (205) and the friction wheel C (206) by interference fit respectively.

2. The differential rotation projectile firing device based on multiple wheel sets according to claim 1, wherein: The friction wheel A (204), the friction wheel B (205), the friction wheel C (206), the reduction motor A (208), the reduction motor B (209) and the reduction motor C (210) satisfy the following formula: ω = 2πn V = ω * R Where, ω is the rotational angular velocity of the corresponding friction wheel, n is the rotational speed of the corresponding reduction motor, V is the projectile launching speed, and R is the radius of the corresponding friction wheel.

3. The differential rotation projectile firing device based on multiple wheel sets according to claim 1, characterized in that: The medium container (1) further includes a support frame (101), a front observation window (102), a side observation window (103), a rear observation window (104), a bottom observation window (105), pressure-bearing columns, bolt group A and bolt group B. The pressure-bearing columns are connected to the top and bottom of the support frame (101) by bolt group B. Reserved windows are provided on the support frame (101). The front observation window (102), the side observation window (103), the rear observation window (104) and the bottom observation window (105) are embedded in the reserved windows. Reserved bolt holes of bolt group A are arranged on the connection platform (106).

4. The differential rotation projectile firing device based on multiple wheel sets according to claim 1, characterized in that: The launching device (2) further includes an emission barrel (201), a motor base (211), a rubber damping track (212), a reinforcing iron ring (213), a loading platform (214), bolt group C, bolt group D, bolt group E, a deep groove ball bearing group, a locking nut A and corresponding fittings. The emission barrel (201) is fastened to the front isolation baffle (202) by bolt group C. The front isolation baffle (202) and the rear isolation baffle (203) are fixed on the support beam (6) by the locking nut A and relevant fasteners. The friction wheel base (207) is connected to the front isolation baffle (202) and the rear isolation baffle (203) by bolt group D. The deep groove ball bearing group is connected to the rotating ends of the reduction motor A (208), the reduction motor B (209), and the reduction motor C (210). The reduction motor A (208), the reduction motor B (209), and the reduction motor C (210) are installed on the motor base (211). The motor base (211) is connected to the friction wheel base (207) by bolt group E. The rubber damping track (212) is connected through the rear isolation baffle (203). The rear end of the rubber damping track (212) is connected through the loading platform (214). Two reinforcing iron rings (213) are arranged on the rubber damping track (212) at equal intervals with the loading platform (214).

5. The differential rotation projectile firing device based on multiple wheel sets according to claim 1, characterized in that: The steering device (3) includes a bogie (301), a steering gear unit A (302), a connection module (303) and a bolt group F (304). The bogie (301) is connected to the connection platform (106) by the bolt group F (304). The steering gear unit A (302) is installed inside the bogie (301). The connection module (303) is installed on the rotating shaft of the steering gear unit A (302). The connection hole of the connection module (303) is installed in interference fit with the rotating shaft of the steering gear unit A (302).

6. The differential rotation projectile firing device based on multiple wheel sets according to claim 4, characterized in that: The reciprocating loading device (4) includes a thrust baffle (401), a loading rod (402), a rotating shaft A (403), a rotating shaft B (404), a connecting rod (405), a crank (406), a support frame main body (407), a support bolt plate, a steering gear set B, a bolt group G, a bolt group H, a bolt group I, and a locking nut C. The thrust baffle (401) is connected to the loading platform (214) through the bolt group G. The loading rod (402) passes through the central reserved hole of the thrust baffle (401). There is a hole at the end of the loading rod (402), and it is connected to the connecting rod (405) through the rotating shaft A (403) with a clearance fit. The connecting rod (405) is connected to the crank (406) through the rotating shaft B (404) with a clearance fit. The end of the connecting rod (405) is installed with an interference fit on the rotating shaft of the steering gear set B. The steering gear set B is installed inside the support frame main body (407), and the steering gear set B and the support frame main body (407) are axially clamped through the support bolt plate. The support frame main body (407) is longitudinally arranged on the support beam (6). The support frame main body (407), the bolt group I, and the locking nut C form a set of fine-tuning devices. By rotating the locking nut C, the extrusion force of the support frame main body (407) on the support beam (6) can be adjusted, and then the support frame main body (407) can be manually pushed to move along the support beam (6). The distance between the front end face of the support frame main body (407) and the rear end face of the thrust baffle (401) is the sum of the radius r of the friction wheel A (204), the length L of the loading rod (402), the length l1 of the connecting rod (405), and the length l2 of the crank (406).

7. The differential rotation projectile firing device based on multiple wheel sets according to claim 1, characterized in that: The control unit (5) includes a signal transmitter (501), a feedback display screen (502), a signal receiver (503), an electronic speed governor A (504), an electronic speed governor B (505), an electronic speed governor C (506), a lock nut B (507), a damping ring (508), a Dupont wire (509), and a built-in computer (510). The signal transmitter (501) is installed on the operating system (7), the feedback display screen (502) is embedded in a reserved hole of the operating system (7), the built-in computer (510) is installed in a reserved power supply compartment below, the signal receiver (503) is installed on two support beams (6) on the upper side, fixed to the front end of the front isolation baffle (202) with the lock nut B (507) and the damping ring (508), and connected to the electronic speed governor A (504), the electronic speed governor B (505), the electronic speed governor C (506), the rudder unit A (302), and the rudder unit B through the Dupont wire (509) and an extension wire. The electronic speed governor A (504) is installed on two support beams (6) on the left side, fixed to the front end of the front isolation baffle (202) with the lock nut B (507) and the damping ring (508), and connected to the reduction motor A (208) through an electric wire. The electronic speed governor B (505) is installed on two support beams (6) on the left side, fixed to the front end of the front isolation baffle (202) with the lock nut B (507) and the damping ring (508), and connected to the reduction motor B (209) through an electric wire. The electronic speed governor C (506) is installed on two support beams (6) on the right side, fixed to the front end of the front isolation baffle (202) with the lock nut B (507) and the damping ring (508), and connected to the reduction motor C (210) through an electric wire.

8. The differential rotation projectile firing device based on multiple wheel sets according to claim 7, characterized in that: The operating system (7) includes an operating console, a speed handle A, a speed handle B, a speed handle C, an angle knob, a loading button, and an emergency stop button. The operating console is installed on the top of the medium container (1), the speed handle A, the speed handle B, and the speed handle C are installed side by side in a reserved opening of the operating console, the angle knob is installed on the right side of the speed handle C, the loading button is installed in a reserved hole on the right side of the feedback display screen (502), the emergency stop button is installed on the right side of the loading button. The operating console, the speed handle A, the speed handle B, the speed handle C, and the angle knob are connected to the built-in computer (510) through electric wires. The signal transmitter (501) is installed on the left side of the speed handle A on the top of the operating console, and the feedback display screen (502) is embedded in a reserved hole of the operating console.

9. The differential rotation projectile firing device based on multiple wheel sets according to claim 7, characterized in that: The power supply (8) includes a power supply A and a power supply B. The electric wire of the power supply A supplies power to the electronic speed governor A (504), the electronic speed governor B (505), and the electronic speed governor C (506) through a wiring hole at the rear of the operating console, and the power supply B supplies power to the built-in computer (510) through an electric wire.

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