A segmented electromagnetic launch device

Abstract

This invention discloses a segmented electromagnetic launching device, comprising a protective outer tube, a launching inner tube, a camera, a pitch actuator, a yaw actuator, and a controller. The launching inner tube is located within the protective outer tube and includes a first electromagnetic launching tube, a flexible connecting tube, and a second electromagnetic launching tube connected sequentially. The first electromagnetic launching tube is fixed within the protective outer tube, while the flexible connecting tube and the second electromagnetic launching tube are movably disposed within the protective outer tube. A camera for real-time target image acquisition is located at the front end of either the launching inner tube or the protective outer tube. A pitch actuator and a yaw actuator are located between the inner wall of the protective outer tube and the outer peripheral wall of the front end of the second electromagnetic launching tube, used to drive the trajectory of the second electromagnetic launching tube to perform pitch and yaw motions relative to the first electromagnetic launching tube. The controller is electrically connected to all components for coordinated control. This invention only adjusts the attitude of the front end of the second electromagnetic launching tube, reducing the rotational inertia of the launching device and significantly improving the high-frequency dynamic response speed of aiming.

Description

Technical Field

[0001] This invention relates to the field of firearms and equipment technology, and in particular to a segmented electromagnetic launching device. Background Technology

[0002] Automatic targeting equipment typically obtains the target's azimuth, distance, and motion parameters through detection devices. The controller then calculates these parameters and drives a servo mechanism to adjust the transmitter's direction, thereby intercepting the moving target. The servo mechanism's response bandwidth is a core indicator of targeting performance, and this bandwidth is largely constrained by the rotational inertia of the driven load.

[0003] For example, Chinese patent document CN104132586A discloses an automatic aiming system for firearms, which includes a guide gimbal and an aiming gimbal. The guide gimbal is equipped with a laser rangefinder and a camera for searching for targets and extracting target parameters; the aiming gimbal is equipped with a firearm, which serves as the firing terminal. Both gimbals are equipped with a vertical motor and a horizontal motor, respectively enabling horizontal rotation and pitch rotation. In operation, the target information collected by the guide gimbal is transmitted to the controller. The controller generates an aiming command by calculating the target's motion. Subsequently, the aiming gimbal, according to the command, deflects the entire firearm, pointing the muzzle at a preset interception point on the target.

[0004] However, this automatic aiming system for firearms has the following drawbacks and shortcomings: Because the aiming gimbal needs to drive the firearm and the entire supporting structure in angular motion, its overall mass is large, resulting in a high moment of inertia. As a direct consequence, the dynamic response of the gimbal is limited. When facing targets with rapid maneuverability (such as the recently deployed drones), the lag in terminal tracking will prevent the formation of an effective and stable lock-on and interception window. Furthermore, due to the large size and weight of the overall rotating structure of this type of system, its lightweight integration is difficult to achieve in portable or handheld equipment for individual soldiers, limited by the limits of human carrying capacity, thus restricting the deployment of automatic aiming systems in lightweight combat units.

[0005] Therefore, there is an urgent need to provide a segmented electromagnetic launch device that can effectively improve aiming response speed while adapting to the requirements of lightweight equipment. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a segmented electromagnetic launching device, which solves the technical problems of existing automatic firearm aiming systems, which require driving the entire weapon or launching device to rotate during aiming, resulting in excessive rotational inertia and sluggish dynamic response, making it difficult to effectively intercept highly mobile targets; and the overall structure is bulky and cannot be applied to individual soldiers or portable light equipment.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0010] This invention provides a segmented electromagnetic launching device, comprising: an inner launching tube, a protective outer tube, and a controller;

[0011] The outer protective tube is equipped with an inner transmitting tube, which includes a first electromagnetic transmitting tube, a flexible connecting tube, and a second electromagnetic transmitting tube connected in sequence. The first electromagnetic transmitting tube is fixedly installed inside the outer protective tube, while the flexible connecting tube and the second electromagnetic transmitting tube are movably installed inside the outer protective tube.

[0012] A camera is installed at the front end of the inner tube or outer tube for acquiring image data of the target area in real time;

[0013] A pitch actuator and a yaw actuator are provided between the inner wall of the outer tube and the outer peripheral wall of the front end of the second electromagnetic launch tube, which are used to drive the trajectory of the second electromagnetic launch tube to pitch and yaw relative to the axis of the first electromagnetic launch tube.

[0014] The controller is electrically connected to the camera, the first electromagnetic transmitter, the second electromagnetic transmitter, the pitch actuator, and the yaw actuator, respectively, to control the coordinated operation of each component.

[0015] Optionally, the stators of the pitch actuator and the yaw actuator are fixed to the inner wall of the outer protective tube, and the movers of the pitch actuator and the yaw actuator are connected to the outer wall of the second electromagnetic transmitter tube.

[0016] Furthermore, the pitch actuator is arranged vertically to propel the trajectory of the second electromagnetic launch tube to pitch up and down, while the yaw actuator is arranged horizontally to propel the trajectory of the second electromagnetic launch tube to yaw left and right.

[0017] Optionally, it also includes an annular mounting base;

[0018] The stator of one of the pitch actuators and yaw actuators is fixed to the inner wall of the protective outer tube, and its mover is connected to the outer wall of the annular mounting base.

[0019] The stator of the other pitch actuator and yaw actuator is connected to the inner wall of the annular mounting base, and its mover is connected to the outer wall of the second electromagnetic launch tube.

[0020] Furthermore, the pitch actuator is arranged vertically to propel the trajectory of the second electromagnetic launch tube to pitch up and down, while the yaw actuator is arranged horizontally to propel the trajectory of the second electromagnetic launch tube to yaw left and right.

[0021] Optionally, electromagnetic acceleration coils are provided inside the tube walls of the first and second electromagnetic launch tubes to accelerate the electromagnetic projectile.

[0022] The flexible connecting tube does not have an electromagnetic acceleration coil inside its wall; it is used to connect the first electromagnetic transmitting tube and the second electromagnetic transmitting tube.

[0023] Optionally, the flexible connecting pipe is an integral connecting pipe, which is made of one or more of polyoxymethylene, nylon, and polytetrafluoroethylene materials.

[0024] Optionally, the flexible connecting tube includes a plurality of short circular rings connected in series;

[0025] Multiple short rings are connected end to end in sequence, and the inner holes of the multiple short rings are connected to form an internal ballistic trajectory for the electromagnetic projectile to pass through.

[0026] Optionally, each of the short rings has a concave spherical surface on its front end face and a convex spherical surface on its rear end face;

[0027] In two adjacent short rings, the convex spherical surface of the rear short ring and the concave spherical surface of the front short ring are nested together and can slide relative to each other.

[0028] Optionally, it also includes elastic elements and multiple pull cords;

[0029] Multiple longitudinal through holes are evenly distributed along the circumference of the short ring tube wall. One end of multiple pull ropes is fixedly connected to the tube wall at the rear end of the second electromagnetic transmitter tube. The other end of the multiple pull ropes passes through the through holes on the multiple short rings and the tube wall at the front end of the first electromagnetic transmitter tube, and is connected to the elastic element. The elastic element is set in the gap between the first electromagnetic transmitter tube and the protective outer tube, so as to apply axial pre-tightening force to the multiple short rings through the pull ropes.

[0030] Optionally, there are multiple cameras, which are evenly arranged around the front end of the protective outer tube or the second electromagnetic emission tube, and the overall physical center of gravity of the multiple cameras falls on the central axis of the protective outer tube.

[0031] Optionally, a corrugated dust cover is sealed between the front opening of the outer tube and the front outer wall of the second electromagnetic transmitter tube.

[0032] (III) Beneficial Effects

[0033] The beneficial effects of this invention are as follows: The segmented electromagnetic launching device of this invention includes: an inner launching tube, a protective outer tube, and a controller; the inner launching tube is disposed inside the protective outer tube, and the inner launching tube includes a first electromagnetic launching tube, a flexible connecting tube, and a second electromagnetic launching tube connected in sequence. The first electromagnetic launching tube is fixedly disposed inside the protective outer tube, and the flexible connecting tube and the second electromagnetic launching tube are movably disposed inside the protective outer tube; a camera is disposed at the front end of the inner launching tube or the protective outer tube for acquiring image data of the target area in real time; a pitch actuator and a yaw actuator are disposed between the inner wall of the protective outer tube and the outer peripheral wall of the front end of the second electromagnetic launching tube for driving the trajectory of the second electromagnetic launching tube to perform pitch and yaw motions relative to the axis of the first electromagnetic launching tube; the controller is electrically connected to the camera, the first electromagnetic launching tube, the second electromagnetic launching tube, the pitch actuator, and the yaw actuator respectively for controlling the coordinated operation of each component. Compared to existing automatic aiming systems for firearms, this application allows for attitude adjustment only on the lighter, second electromagnetic launcher at the end, while keeping the first electromagnetic launcher and the main support structure fixed. This significantly reduces the load mass and rotational inertia during aiming motion. Simultaneously, the flexible connecting tube maintains continuous internal ballistic connectivity while adapting to front-end deflection. Combined with closed-loop control based on visual feedback from the camera and controller, rapid and precise ballistic pointing adjustment is achieved. This significantly improves the high-frequency dynamic response speed of the aiming system, enabling it to effectively and stably lock onto and intercept highly mobile targets, while also effectively reducing the overall size and weight of the automatic aiming system. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the internal structure of Embodiment 1 of the segmented electromagnetic launching device of the present invention;

[0035] Figure 2 This is a front view schematic diagram of Embodiment 1 of the segmented electromagnetic launching device of the present invention;

[0036] Figure 3 This is a schematic diagram of the internal structure of the inner tube of the segmented electromagnetic launching device of the present invention when it is tilted upwards, according to Embodiment 1.

[0037] Figure 4 This is a front view of Embodiment 1 of the segmented electromagnetic launching device of the present invention when tilted upwards;

[0038] Figure 5 This is a schematic diagram of the internal structure of Embodiment 2 of the segmented electromagnetic launching device of the present invention;

[0039] Figure 6 This is an exploded view of the flexible connecting tube in Embodiment 2 of the segmented electromagnetic launching device of the present invention;

[0040] Figure 7for Figure 5 A front view of the short annulus of the flexible connecting tube in the middle;

[0041] Figure 8 This is a cross-sectional schematic diagram of the flexible connecting tube in Embodiment 2 of the segmented electromagnetic launching device of the present invention;

[0042] Figure 9 This is a schematic diagram of the internal structure of Embodiment 3 of the segmented electromagnetic launching device of the present invention;

[0043] Figure 10 This is a front view schematic diagram of the second electromagnetic transmitting tube in Embodiment 3 of the segmented electromagnetic transmitting device of the present invention;

[0044] Figure 11 This is a front view schematic diagram of Embodiment 4 of the segmented electromagnetic launching device of the present invention.

[0045] [Explanation of Labels in the Attached Image]

[0046] 1: First electromagnetic transmitter tube; 2: Flexible connecting tube; 21: Short circular ring; 22: Convex spherical surface; 23: Concave spherical surface; 24: Threading hole; 3: Second electromagnetic transmitter tube; 4: Protective outer tube; 5: Camera; 6: Pitch actuator; 7: Yaw actuator; 8: Support frame; 9: Corrugated dust cover; 10: Elastic element; 11: Pull rope; 12: Annular mounting base. Detailed Implementation

[0047] To better explain and facilitate understanding of the present invention, a detailed description of the invention is provided below with reference to the accompanying drawings and specific embodiments. In this document, directional terms such as "upper," "lower," "left," "right," "front," and "rear" are used interchangeably. Figure 1 The orientation is used as a reference.

[0048] Example 1:

[0049] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 This embodiment provides a segmented electromagnetic launching device, including: an inner launching tube, a protective outer tube 4, a camera 5, a pitch actuator 6, a yaw actuator 7, and a controller (not shown in the figure).

[0050] Specifically, the outer protective tube 4 serves as the main external load-bearing housing of the segmented electromagnetic launching device in this embodiment, and is particularly suitable for single-soldier hand-held or shoulder-carried operation. Inside the outer protective tube 4 is a launching inner tube, which, from back to front, includes a first electromagnetic launching tube 1, a flexible connecting tube 2, and a second electromagnetic launching tube 3.

[0051] The first electromagnetic launch tube 1 is fixedly installed in the rear half of the protective outer tube 4 by an internal support frame 8, serving as the main support part of the entire launch device and remaining stationary during launch. The flexible connecting tube 2 and the second electromagnetic launch tube 3 are movably installed in the front half of the protective outer tube 4, performing pitch and yaw movements during launch.

[0052] Specifically, the front end of the first electromagnetic launch tube 1 is connected to one end of the flexible connecting tube 2, and the other end of the flexible connecting tube 2 is connected to the rear end of the second electromagnetic launch tube 3. Through the deformation capability of the flexible connecting tube 2, the trajectory of the second electromagnetic launch tube 3 can be deflected within a small range within the protective outer tube 4, so that the trajectory of the second electromagnetic launch tube 3 can perform pitch and yaw motions relative to the axis of the first electromagnetic launch tube.

[0053] Because this invention employs segmented electromagnetic launch technology, the electromagnetic acceleration process is linearly distributed. Therefore, electromagnetic acceleration coils are arranged inside the walls of both the first electromagnetic launch tube 1 and the second electromagnetic launch tube 3 to relay acceleration of the electromagnetic projectile passing through the tube. The flexible connecting tube 2, however, does not have electromagnetic acceleration coils inside its wall; its main function is to serve as a physical channel connecting the first electromagnetic launch tube 1 and the second electromagnetic launch tube 3, forming a continuous internal trajectory.

[0054] It should be explained that, because the first electromagnetic launch tube 1 and the second electromagnetic launch tube 3 in this embodiment adopt a staged acceleration design, the electromagnetic projectile only undergoes a small number of primary acceleration stages within the first electromagnetic launch tube 1, resulting in a low velocity when it enters the flexible connecting tube 2. At this low speed, the centrifugal force generated when the electromagnetic projectile passes through the curved flexible connecting tube 2 is small, and the impact and wear on the inner wall of the flexible connecting tube 2 are also very limited. Simultaneously, with sufficient tolerance reserved in the ballistic trajectory within the flexible connecting tube 2, the electromagnetic projectile can smoothly pass through the curved section and enter the second electromagnetic launch tube 3, where it finally completes the final stage acceleration and is launched.

[0055] In this embodiment, the flexible connecting tube 2 is an integral connecting tube. Considering the friction and flexible deflection requirements of the electromagnetic projectile passing through the tube at high speed, the integral connecting tube is made of a material with good flexibility and self-lubricating properties, preferably one or more composite materials selected from polyoxymethylene (POM), nylon (PA), and polytetrafluoroethylene (PTFE, also known as Teflon). Such materials can effectively adapt to the attitude deflection of the second electromagnetic launch tube 3 while meeting the ballistic wear resistance requirements.

[0056] Furthermore, the protective outer tube 4 can be made of engineering plastic or metal. Preferred engineering plastics are PC and ABS, while preferred metals are aluminum alloys. The first electromagnetic emission tube 1 and the second electromagnetic emission tube 3 are made of self-lubricating plastic or low-conductivity metal. Preferred self-lubricating plastics are POM and PEEK, while preferred low-conductivity metals are stainless steel or titanium alloys.

[0057] In order to acquire target images, a camera 5 is installed at the front end of the protective outer tube 4 to acquire image data of the target area (such as a high-mobility racing drone) in real time.

[0058] In order to achieve precise fine-tuning of the alignment, a pitch actuator 6 and a yaw actuator 7 are installed between the inner wall of the front section of the protective outer tube 4 and the outer peripheral wall of the front end of the second electromagnetic transmitter tube 3. These actuators are used to drive the front end of the second electromagnetic transmitter tube 3 to perform pitch (up and down) and yaw (left and right) movements relative to the fixed first electromagnetic transmitter tube 1.

[0059] Preferably, the pitch actuator 6 and the yaw actuator 7 are voice coil motors or piezoelectric actuators. Voice coil motors are characterized by fast response speed, high precision, and short stroke, perfectly meeting the requirements of precise end-effector aiming. Piezoelectric actuators are characterized by extremely high displacement resolution, wide response bandwidth, high stiffness, and no mechanical friction, also perfectly meeting the requirements of precise end-effector aiming adjustment.

[0060] In this embodiment, two voice coil motors are used. In the specific arrangement, the stators of the two voice coil motors are fixed to the inner wall of the protective outer tube 4, and the movers of the two voice coil motors are connected to the outer wall of the second electromagnetic transmitter tube 3. One voice coil motor is arranged vertically as a pitch actuator 6 to drive the front end of the second electromagnetic transmitter tube 3 to perform up and down pitching motion; the other voice coil motor is arranged horizontally as a yaw actuator 7 to drive the front end of the second electromagnetic transmitter tube 3 to perform left and right yaw motion.

[0061] Furthermore, the mover of the voice coil motor and the outer wall of the second electromagnetic transmitter 3 can be hinged to provide the required rotational freedom when the second electromagnetic transmitter 3 is deflected, thus avoiding motion interference. This hinge is preferably a spherical hinge or a pin-type hinge. In actual operation, the pitch actuator 6 and yaw actuator 7 are controlled collaboratively by a controller. Their displacement outputs are combined to drive the front end of the second electromagnetic transmitter 3 to achieve omnidirectional precise aiming adjustment in the up, down, left, right, and combined diagonal directions (such as upper left, lower left, upper right, lower right, etc.).

[0062] Furthermore, driven by the pitch actuator 6 and the yaw actuator 7, the trajectory axis of the second electromagnetic launch tube 3 can be deflected within a range of 0° to 15° relative to the central axis of the first electromagnetic launch tube 1.

[0063] The controller is electrically connected to the camera 5, the first electromagnetic transmitter 1, the second electromagnetic transmitter 3, the pitch actuator 6, and the yaw actuator 7, respectively, to control the coordinated operation of each component.

[0064] In addition, the segmented electromagnetic launching device of this embodiment also includes a battery for power supply. The battery can be integrated into the protective outer tube 4, or in order to reduce the weight of the muzzle, the battery can also be placed in the external soldier's backpack and electrically connected to the above-mentioned electrical components through a power cord.

[0065] Furthermore, an optical sight can also be provided on the outer wall of the protective outer tube 4 in this embodiment to assist the operator in performing manual coarse aiming.

[0066] Furthermore, the segmented electromagnetic launching device of this embodiment also includes a firing component (not shown in the figure) and a magazine (not shown in the figure) for storing electromagnetic projectiles. The firing component is electrically connected to the controller, and a magazine interface is provided on the first electromagnetic launching tube 1 and the protective outer tube 4. The magazine is detachably installed at the magazine interface to continuously supply electromagnetic projectiles into the first electromagnetic launching tube 1.

[0067] The working process of the segmented electromagnetic launch device in this embodiment is as follows: First, the operator uses an external sight to manually aim at the target and bring the target into the field of view of the camera 5; then, the camera 5 is controlled to collect the target image in real time and feed it back to the controller. The controller uses a visual algorithm to calculate the target trajectory, predict the interception point and calculate the attitude compensation amount; finally, the controller drives the pitch actuator 6 and the yaw actuator 7, which only drive the lighter second electromagnetic launch tube 3 to perform closed-loop fine adjustment of the end field of view.

[0068] It should be noted that the operator can issue a firing clearance command to the controller after completing manual coarse aiming. Thanks to the extremely low moment of inertia and extremely high dynamic response speed of this embodiment, the controller, upon receiving the clearance, can instantly coordinate with various components to perform high-frequency, precise ballistic aiming adjustments on the moving target, and automatically trigger the first electromagnetic launcher 1 and the second electromagnetic launcher 3 at the optimal moment to complete the firing. The entire automatic fine aiming and firing process takes very little time, with almost no noticeable lag between issuing the clearance and actual firing, ensuring smooth operation and a high hit rate in interception.

[0069] Example 2:

[0070] Reference Figure 5 , Figure 6 , Figure 7 and Figure 8 This embodiment provides another segmented electromagnetic launching device. The difference between this embodiment and embodiment 1 is that the flexible connecting tube 2 and its supporting structure have been optimized.

[0071] In this embodiment, the flexible connecting tube 2 is no longer a one-piece molded tube, but includes multiple short rings 21 connected in series. The multiple short rings 21 are connected end to end in sequence, and the inner holes of the multiple short rings 21 are interconnected to form an internal trajectory for the electromagnetic projectile to pass through.

[0072] In terms of specific structure, such as Figure 6 and Figure 7 As shown, each short ring 21 has a concave spherical surface 23 on its front end face and a convex spherical surface 22 on its rear end face. In two adjacent short rings 21, the convex spherical surface 22 of the rear short ring 21 and the concave spherical surface 23 of the front short ring 21 are nested together to form a ball-joint-like, relatively sliding connection. This biomimetic joint-like structure allows the short rings 21 to smoothly deflect relative to each other when the flexible connecting tube 2 is bent under force, without causing obvious bending or steps in the internal trajectory.

[0073] To maintain a tight fit between the multiple short rings 21 and provide a restoring elastic force, this embodiment also includes a pre-tensioning mechanism, comprising an elastic element 10 and multiple pull ropes 11. Figure 7 and Figure 8 As shown, each short ring 21 has multiple longitudinally penetrating wire holes 24 (e.g., four) evenly distributed along its circumference on its tube wall. One end of each of the multiple pull ropes 11 is fixedly connected to the tube wall at the rear end of the second electromagnetic transmitting tube 3, and the other end of each pull rope 11 passes through the corresponding wire holes 24 on all the short rings 21 and the corresponding through holes on the front end tube wall of the first electromagnetic transmitting tube 1, and then connects to the elastic element 10. The elastic element 10 is disposed in the gap between the outer wall of the first electromagnetic transmitting tube 1 and the inner wall of the protective outer tube 4, or is directly supported on the stepped surface at the front end of the first electromagnetic transmitting tube 1.

[0074] The elastic element 10 is preferably a compression spring or a disc spring. Through the tension generated by the compression of the elastic element 10, the pull rope 11 always applies a rearward axial preload to all the short rings 21, so that the convex spherical surface 22 and the concave spherical surface 23 are always tightly nested, preventing the short rings 21 from being misaligned due to vibration during high-speed firing. At the same time, it can assist the second electromagnetic launch tube 3 to automatically return to center after the pitch actuator 6 and yaw actuator 7 are unloaded.

[0075] Furthermore, the short ring 21 is preferably made of metal, and the edges of the convex spherical surface 22 and the concave spherical surface 23 of the short ring 21 can be rounded to make the internal communication channels of the multiple short rings 21 smoother. The pull rope 11 is preferably a metal rope.

[0076] Furthermore, to adapt to the complex battlefield environment, a corrugated dust cover 9 is sealed between the front opening of the protective outer tube 4 and the front outer wall of the second electromagnetic transmitter tube 3. The corrugated dust cover 9 effectively seals the gap in front of the protective outer tube 4 without interfering with the up, down, left, and right yaw movements of the second electromagnetic transmitter tube 3, preventing foreign objects such as sand and rainwater from entering the protective outer tube 4 and affecting the precision operation of the voice coil motor.

[0077] The remaining parts that are the same as in Example 1 will not be repeated here.

[0078] Example 3:

[0079] Reference Figure 9 and Figure 10 This embodiment provides another segmented electromagnetic transmitting device. The difference between this embodiment and embodiment 2 is that the layout of the camera 5 has been optimized.

[0080] In Embodiment 2, if the single camera 5 is offset, it will introduce an asymmetrical mass distribution at the front end of the launch tube. For the lightweight handheld / shoulder-mounted launch equipment of this application, any unbalanced mass at the front end will generate parasitic torque during rapid maneuvers, affecting the shooting feel and the high-frequency servo control accuracy of the voice coil motor.

[0081] Therefore, in this embodiment, the number of cameras 5 is set to multiple (e.g., ...). Figure 10 As shown in the diagram, multiple cameras 5 are arranged in a uniform circular pattern around the front end of the second electromagnetic transmitter 3 (e.g., evenly distributed at a 90-degree angle).

[0082] It should be noted that the number of cameras 5 is not limited to four; there can be two, three, five, or more. Furthermore, the multiple cameras 5 can also be arranged uniformly around the front end of the protective outer tube 4.

[0083] This ring array layout not only ensures that the overall physical center of gravity of the multiple cameras 5 falls precisely on the central axis of the protective outer tube 4, eliminating eccentric torque and effectively maintaining the dynamic balance of the launch tube assembly; but also, the multi-camera array can provide a wider field of view or achieve stereo vision ranging through the image fusion algorithm of the controller, improving the success rate of tracking and locking onto highly maneuverable small targets (such as drones) and ranging accuracy under complex background interference.

[0084] The remaining parts that are the same as in Example 2 will not be repeated here.

[0085] Example 4:

[0086] See Figure 11This embodiment provides another segmented electromagnetic launching device. Compared with embodiment 1, the main difference of this embodiment is that the segmented electromagnetic launching device of this embodiment also includes an annular mounting base 12, and the pitch actuator 6 and the yaw actuator 7 are arranged in a cascade (nested) manner.

[0087] Specifically, the stator of one of the pitch actuator 6 and yaw actuator 7 is fixed to the inner wall of the protective outer tube 4, and its mover is connected to the outer wall of the annular mounting base 12; the stator of the other pitch actuator 6 and yaw actuator 7 is connected to the inner wall of the annular mounting base 12, and its mover is connected to the outer wall of the second electromagnetic transmitter tube 3.

[0088] In this embodiment, the pitch actuator 6 is used as the outer driving force and the yaw actuator 7 is used as the inner driving force for the explanation: The pitch actuator 6 is arranged vertically between the outer wall of the annular mounting base 12 and the inner wall of the protective outer tube 4, and is used to push the annular mounting base 12 to make linear reciprocating motion in the vertical direction, thereby driving the second electromagnetic transmitter tube 3 installed therein to make up-down pitch motion as a whole; The yaw actuator 7 is arranged horizontally between the inner wall of the annular mounting base 12 and the outer wall of the second electromagnetic transmitter tube 3, and is used to push the second electromagnetic transmitter tube 3 to make left-right yaw motion relative to the annular mounting base 12.

[0089] This embodiment introduces a ring-shaped mounting base 12 to form a two-stage series drive structure, which decouples the pitch and yaw motions, effectively avoiding motion interference that may occur when the two actuators directly interact in Embodiment 1. Simultaneously, the ring-shaped mounting base 12 provides stable radial support for the second electromagnetic launch tube 3, further enhancing the structural rigidity and control accuracy of the end-effector precision aiming assembly during high-speed dynamic deflection.

[0090] The remaining parts that are the same as in Example 1 will not be repeated here.

[0091] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0092] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0093] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0094] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0095] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A segmented electromagnetic launching device, characterized in that, include: The inner tube for launching, the outer tube for protection (4), and the controller; The outer protective tube (4) is equipped with an inner transmitting tube, which includes a first electromagnetic transmitting tube (1), a flexible connecting tube (2), and a second electromagnetic transmitting tube (3) connected in sequence. The first electromagnetic transmitting tube (1) is fixedly installed inside the outer protective tube (4), while the flexible connecting tube (2) and the second electromagnetic transmitting tube (3) are movably installed inside the outer protective tube (4). A camera (5) is installed at the front end of the inner tube or outer tube (4) for acquiring image data of the target area in real time; A pitch actuator (6) and a yaw actuator (7) are provided between the inner wall of the outer tube (4) and the outer peripheral wall of the front end of the second electromagnetic launch tube (3) to drive the trajectory of the second electromagnetic launch tube (3) to pitch and yaw relative to the axis of the first electromagnetic launch tube (1). The controller is electrically connected to the camera (5), the first electromagnetic transmitter (1), the second electromagnetic transmitter (3), the pitch actuator (6), and the yaw actuator (7) respectively, and is used to control the coordinated operation of each component.

2. The segmented electromagnetic launching device as described in claim 1, characterized in that: The stators of the pitch actuator (6) and yaw actuator (7) are fixed to the inner wall of the protective outer tube (4), and the movers of the pitch actuator (6) and yaw actuator (7) are connected to the outer wall of the second electromagnetic transmitter tube (3). Furthermore, the pitch actuator (6) is arranged vertically to push the trajectory of the second electromagnetic launch tube (3) to pitch up and down, and the yaw actuator (7) is arranged horizontally to push the trajectory of the second electromagnetic launch tube (3) to yaw left and right.

3. The segmented electromagnetic launching device as described in claim 1, characterized in that: It also includes a ring-shaped mounting base (12); The stator of one of the pitch actuator (6) and yaw actuator (7) is fixed to the inner wall of the protective outer tube (4), and its mover is connected to the outer wall of the annular mounting base (12); The stator of the other of the pitch actuator (6) and yaw actuator (7) is connected to the inner wall of the annular mounting base (12), and its mover is connected to the outer wall of the second electromagnetic transmitter tube (3); Furthermore, the pitch actuator (6) is arranged vertically to push the trajectory of the second electromagnetic launch tube (3) to pitch up and down, and the yaw actuator (7) is arranged horizontally to push the trajectory of the second electromagnetic launch tube (3) to yaw left and right.

4. The segmented electromagnetic launching device as described in claim 1, characterized in that: Electromagnetic acceleration coils are installed inside the tube walls of the first electromagnetic launch tube (1) and the second electromagnetic launch tube (3) to accelerate the electromagnetic projectile. The flexible connecting tube (2) does not have an electromagnetic acceleration coil inside its tube wall, and it is used to connect the first electromagnetic transmitting tube (1) and the second electromagnetic transmitting tube (3).

5. The segmented electromagnetic launching device as described in claim 4, characterized in that: The flexible connecting pipe (2) is an integral connecting pipe, which is made of one or more of polyoxymethylene, nylon and polytetrafluoroethylene materials.

6. The segmented electromagnetic launching device as described in claim 4, characterized in that: The flexible connecting tube (2) includes multiple short circular rings (21) connected in series. Multiple short rings (21) are connected end to end in sequence, and the inner holes of the multiple short rings (21) are connected to form an internal ballistic trajectory for the electromagnetic projectile to pass through.

7. The segmented electromagnetic launching device as described in claim 6, characterized in that: Each of the short rings (21) has a concave spherical surface (23) on its front end face and a convex spherical surface (22) on its rear end face. In two adjacent short rings (21), the convex spherical surface (22) of the rear short ring (21) and the concave spherical surface (23) of the front short ring (21) are nested together and can slide relative to each other.

8. The segmented electromagnetic launching device as described in claim 7, characterized in that: It also includes an elastic element (10) and multiple pull ropes (11); Multiple longitudinal through holes (24) are evenly provided on the circumferential wall of the short ring (21). One end of multiple pull ropes (11) is fixedly connected to the wall of the rear end of the second electromagnetic transmitter tube (3). The other end of the multiple pull ropes (11) passes through the through holes (24) on the multiple short rings (21) and the wall of the front end of the first electromagnetic transmitter tube (1) and is connected to the elastic element (10). The elastic element (10) is set in the gap between the first electromagnetic transmitter tube (1) and the protective outer tube (4) to apply axial pre-tightening force to the multiple short rings (21) through the pull ropes (11).

9. The segmented electromagnetic launching device as described in claim 1, characterized in that: The number of cameras (5) is multiple. Multiple cameras (5) are evenly arranged around the front end of the protective outer tube (4) or the second electromagnetic emission tube (3), and the overall physical center of gravity of the multiple cameras (5) falls on the central axis of the protective outer tube (4).

10. The segmented electromagnetic launching device as described in claim 1, characterized in that: A corrugated dust cover (9) is sealed between the front opening of the protective outer tube (4) and the front outer wall of the second electromagnetic transmitter tube (3).

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