Simulation radar teaching device for independently controlling target scanning and striking

Abstract

A simulation radar fort device suitable for automatic target detection and strike teaching adopts double-steering-engine independent driving, connecting rod transmission and a gear reduction mechanism to realize horizontal scanning motion of an ultrasonic radar and response aiming motion of a fort. The radar scanning mechanism converts steering engine rotation into sector scanning through a connecting rod; the fort aiming mechanism adopts a reduction gear set to reduce the output angle of a steering engine, accurate angle adjustment is achieved, and quick response from radar discovery to fort aiming is achieved. Through combination of machinery and control, the device not only realizes spatial decoupling of scanning and aiming, but also can be used as a teaching platform to visually demonstrate angle transmission, error compensation and triangulation ranging principles in target positioning, and is suitable for teaching practices of courses such as automation and mechatronics.

Description

Technical Field

[0001] This invention relates to the field of mechatronics teaching experimental devices and simulation training equipment, and in particular to a simulated radar teaching device for demonstrating the principles of automatic target detection, tracking and attack. Background Technology

[0002] In the teaching practice of robotics, automation control, and related engineering disciplines, the demonstration of the principle of target detection and tracking systems is a crucial experimental component. Traditional teaching demonstration devices often employ a structure with a single servo motor rigidly connecting the radar and the actuator. Students can only observe the sequential "search-stop-aiming" action, failing to intuitively understand the "scan-track-while-engage" working principle of modern radar systems. Furthermore, single-axis drive cannot demonstrate the spatial geometric relationship between the actual radar and the fire unit—when the target distance varies, there is a parallax angle between the radar beam direction and the strike direction, requiring geometric correction. Existing teaching devices lack this independently controlled, spatially decoupled mechanical demonstration platform, making it difficult for students to understand the concepts of coordinate transformation and error compensation in multi-axis collaborative control. Therefore, there is an urgent need for a simulation teaching device with a transparent structure, clear control logic, and the ability to intuitively demonstrate the parallel processing flow of "search-track-strike." Summary of the Invention

[0003] The technical problem this invention aims to solve is to address the shortcomings of existing single-servo drive systems, such as coupling of scanning and aiming movements, response hysteresis, and the inability to demonstrate the principles of distance parallax and error compensation when used as a teaching device. This invention provides a compact, dual-axis independently driven simulated radar turret mechanical system. As a simulated radar teaching device, its core teaching function lies in the fact that the two servos (scanning servo and aiming servo) do not simply synchronize their angles. Instead, the control circuit independently calculates control commands based on the target angle detected by the radar and the simulated or measured target distance. This vividly demonstrates and compensates for aiming deviations caused by target distance (parallax), thus transforming the observation and correction process of mechanical errors into a verifiable teaching element.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0005] A simulated radar teaching device that uses a crank-rocker mechanism to drive radar scanning and a gear transmission control mechanism to control the aiming module is characterized in that: it includes a core execution module (1), a gear transmission control module (2), a crank-rocker module (3), and a support module (4); the core execution module (1) includes a radar module (1-1), an aiming module (1-2), and a drive module (1-3); the gear transmission control module (2) includes a large gear (2-1), a bearing (2-2), a small gear (2-3), a bearing support (2-4), and a locking washer (2-5); the crank-rocker module (3) includes a rocker arm (3-1), a connecting rod (3-2), and a crank (3-3); the support module (4) includes a base plate (4-1), a nylon column (4-2), a leveling pad (4-3), a control circuit (4-4), and a drive bracket (4-5).

[0006] In the gear transmission control module (2), the axis of the large gear (2-1) coincides with the axis of the bearing (2-2), and the bearing (2-2) is fixedly connected to the bearing housing (2-4). The large gear (2-1) is fixedly connected to the aiming module (1-2), and the locking washer (2-5) is fixedly connected to the large gear (2-1). The rotation of the small gear (2-3) drives the rotation of the large gear (2-1), and the rotation of the large gear (2-1) drives the rotation of the aiming module (1-2).

[0007] The rocker arm (3-1) in the crank-rocker module (3) is connected to the connecting rod (3-2) via a revolute joint, and the connecting rod (3-2) is connected to the crank (3-3) via a revolute joint. The rocker arm (3-1) is fixedly connected to the radar module (1-1). When the crank (3-3) rotates to the rightmost end, the rocker arm (3-1) swings to the minimum angle, and when the crank (3-3) rotates to the leftmost end, the rocker arm (3-1) swings to the maximum angle.

[0008] In the support module (4), the nylon column (4-2), the drive bracket (4-5) and the external components are fixed, which determines the position of the overall mechanism. The leveling pad (4-3) is fixed to the base plate (4-1) through the countersunk hole. The control circuit (4-4) is fixed to the base plate (4-1).

[0009] The beneficial effects of this invention are:

[0010] The radar sector scanning and horizontal aiming of the gun barrel are accomplished by two independent servo motors and mechanical chains. At the moment of firing, the gun barrel can follow the movement, while the radar continues to search within the original sector scanning plane, achieving "fire-and-aim, aim-and-scan," significantly shortening the secondary acquisition time. The crank-slider pair converts the servo motor's circular motion into the reciprocating oscillation of the radar support, with the scanning angle depending only on the geometric length of the rod; 1:2 The reduction gear set doubles the torque of the aiming servo and doubles the angular resolution, reducing backlash after firing and ensuring that the barrel still points to the original aiming point after short bursts or long bursts. The dual-axis orthogonal arrangement without mechanical coupling avoids the inertia superposition caused by the traditional "single servo-dual load" and reduces the dependence on servo synchronization control, facilitating subsequent electrical and software design based on actual usage. The integrated molding of structural components and the serializable replacement of gear modules and center distances allow for the rapid development of multiple models with the same architecture in terms of scanning angle, aiming torque, and overall size. It transforms the abstract principles of triangulation and parallax compensation into visualized mechanical motion, enabling students to intuitively understand the impact of distance on aiming. At the same time, by independently controlling the dual servos, it provides a programmable control interface, allowing students to write or adjust control algorithms and deepen their understanding of automatic control systems. Attached Figure Description

[0011] Figure 1 Schematic diagram of the overall device structure

[0012] Figure 2 Schematic diagram of gear transmission control module

[0013] Figure 3 Schematic diagram of crank-rocker module

[0014] Figure 4 Schematic diagram of the mounting base module

[0015] Explanation of reference numerals in the attached diagram: 1. Core execution module; 1-1. Radar module; 1-2. Aiming module; 1-3. Rotation module; 2. Gear transmission control module; 2-1. Large gear; 2-2. Bearing; 2-3. Small gear; 2-4. Bearing support; 2-5. Locking washer; 3. Crank rocker module; 3-1. Rocker; 3-2. Connecting rod; 3-3. Crank; 4. Support module; 4-1. Base plate; 4-2. Nylon column; 4-3. Leveling pad; 4-4. Control circuit; 4-5. Drive bracket. Detailed Implementation

[0016] To clearly present the core points of the embodiments of the present invention, including the objectives, technical solutions, and advantages, the technical solutions will be comprehensively and meticulously described below in conjunction with the accompanying drawings corresponding to the embodiments. The following embodiments are intended to illustrate the present invention, and not to limit its scope of application.

[0017] Specific implementation method one: See Figures 1-4This application provides a simulated radar teaching device for independently controlling target scanning and attack, including a core execution module 1, a gear transmission control module 2, a crank rocker module 3, and a support module 4;

[0018] The support module 4 determines the overall position of the mechanism, and the drive bracket 4-5 is aligned with the through hole of the base plate 4-1 through the nylon column 4-2 and connected by screws.

[0019] The joystick 3-1 is provided with a connection hole for the radar module 1-1 (which can be replaced according to different receivers), and the receiver is fixed therein and moves synchronously with the joystick 3-1.

[0020] Specific Implementation Method Two: See Figure 2 The gear transmission control module 2 provided in this application embodiment includes a large gear 2-1, a bearing 2-2, a small gear 2-3, a bearing support 2-4, and a locking washer 2-5;

[0021] In the gear transmission control module 2, the large gear 2-1 and the small gear 2-3 are aligned and fixed to ensure smooth transmission. The locking shim 2-5 is connected to the large gear 2-1 through a through hole to prevent the large gear from disengaging. The module and number of teeth of the gear mechanism can be changed to meet actual needs.

[0022] Specific implementation method three: See Figure 3 The crank-rocker module provided in this application embodiment includes a rocker arm 3-1, a connecting rod 3-2, and a crank 3-3;

[0023] The lengths of the rocker arm 3-1, the connecting rod 3-2, and the crank 3-3 in the rotary rocker mechanism 3 can be changed according to the overall size of the radar and the scanning angle required for the project. However, attention should be paid to the length of the connecting rod to avoid interference between the connecting rod and the rocker arm during the movement. Working principle

[0024] Combination Figures 1-4 The working principle of this device is divided into two levels: mechanical motion and control. At the mechanical level, two servo motors independently drive the scanning and aiming mechanisms, achieving spatial decoupling. At the teaching control level, the control circuit (4-4) is the core: it first receives the target angle signal scanned by the radar module (1-1); then, based on preset or student-input target distance parameters, it performs control calculations. If the target distance is set to "long-range mode," the aiming servo and scanning servo point at the same angle; if the target distance is set to a specific short-range value, the control circuit calculates the correction angle required by the aiming module (1-2) that deviates from the radar's pointing direction based on the principle of triangulation, and drives the aiming servo to execute it, thus visually demonstrating the "parallax" effect and its compensation method. This process allows students to clearly understand the complete closed loop from target detection and coordinate calculation to weapon pointing, and they can observe the system response by adjusting parameters.

Claims

1. A simulated radar teaching device for independently controlling target scanning and engagement, comprising a crank-rocker mechanism to drive radar scanning and a gear transmission control mechanism to control the aiming module, characterized in that: It includes a core execution module (1), a gear transmission control module (2), a crank rocker module (3), and a support module (4); the core execution module (1) includes a radar module (1-1), an aiming module (1-2), and a drive module (1-3); the gear transmission control module (2) includes a large gear (2-1), a bearing (2-2), a small gear (2-3), a bearing support (2-4), and a locking washer (2-5); the crank rocker module (3) includes a rocker arm (3-1), a connecting rod (3-2), and a crank (3-3); the support module (4) includes a base plate (4-1), a nylon column (4-2), a leveling pad (4-3), a control circuit (4-4), and a drive bracket (4-5).

2. The simulated radar teaching device for independently controlling target scanning and engagement according to claim 1, characterized in that: In the gear transmission control module (2), the axis of the large gear (2-1) coincides with the axis of the bearing (2-2), and the bearing (2-2) is fixedly connected to the bearing housing (2-4). The large gear (2-1) is fixedly connected to the aiming module (1-2), and the locking washer (2-5) is fixedly connected to the large gear (2-1). The rotation of the small gear (2-3) drives the rotation of the large gear (2-1), and the rotation of the large gear (2-1) drives the rotation of the aiming module (1-2).

3. The simulated radar teaching device for independently controlling target scanning and engagement according to claim 1, characterized in that: The rocker arm (3-1) in the crank-rocker module (3) is connected to the connecting rod (3-2) via a revolute joint, and the connecting rod (3-2) is connected to the crank (3-3) via a revolute joint. The rocker arm (3-1) is fixedly connected to the radar module (1-1). When the crank (3-3) rotates to the rightmost end, the rocker arm (3-1) swings to the minimum angle, and when the crank (3-3) rotates to the leftmost end, the rocker arm (3-1) swings to the maximum angle.

4. The simulated radar teaching device for independently controlling target scanning and engagement according to claim 1, characterized in that: In the support module (4), the nylon column (4-2), the drive bracket (4-5) and the external components are fixed, which determines the position of the overall mechanism. The leveling pad (4-3) is fixed to the base plate (4-1) through the countersunk hole. The control circuit (4-4) is fixed to the base plate (4-1).

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