Salvo device and underwater salvo test platform

Abstract

The application provides a salvo device and an underwater salvo test platform, and the salvo device comprises a salvo platform, a horizontal moving support, a ball screw, a first driving motor, a screw nut, a lifting plate, a vertical support, a driving shaft, a second driving motor, a driving wheel, a driven wheel, a transmission belt and a control system. The salvo platform is arranged on the horizontal moving support, the ball screw and the first driving motor are arranged on the horizontal moving support respectively, the screw nut is fixed on the salvo platform and cooperates with the ball screw, the output shaft of the first driving motor is connected with the ball screw through a first transmission connection, the vertical support is connected with the horizontal moving support through the lifting plate, the driving shaft and the second driving motor are arranged on the vertical support respectively, the driving shaft is secondarily connected with the output shaft of the second driving motor, the driven wheel is connected with the driving wheel through the transmission belt, and the control system is electrically connected with the first driving motor and the second driving motor. The device can realize the positioning and precision of the rotary body.

Description

Technical Field

[0001] This invention relates to the field of underwater launch platform technology, and in particular to a salvo firing device and an underwater salvo firing test platform. Background Technology

[0002] In underwater launch platform testing, the accuracy of the launch parameters of the rotating body directly determines the reliability of the test data. However, in existing underwater launch platforms, the accuracy of the launch parameters of the rotating body relies on the control of lateral movement and depth adjustment. Lateral movement ensures the accurate horizontal positioning of the rotating body, while depth adjustment ensures that its entry depth meets the test requirements. When lateral movement and depth adjustment are performed independently, the attitude change of the underwater launch platform caused by depth adjustment indirectly affects the reference position of the lateral guide rail, while lateral movement interferes with the set depth parameters. This mutual interference makes it difficult for the overall accuracy of the rotating body's launch parameters to meet the high precision and high efficiency requirements of underwater launch tests, thus indicating room for improvement. Summary of the Invention

[0003] In view of the above problems, the first aspect of the present invention provides a salvo firing device that can achieve precise positioning of a rotating body.

[0004] This invention provides a salvo firing device, comprising: a salvo firing platform, a transverse support, a ball screw, a first drive motor, a screw nut, a lifting plate, a vertical support, a drive shaft, a second drive motor, a drive wheel and a driven wheel, a transmission belt, and a control system; the salvo firing platform is linearly slidable along the transverse support; the ball screw and the first drive motor are respectively mounted on the transverse support and are connected by a first transmission connection; the screw nut is fixed on the salvo firing platform and engages with the ball screw; the vertical support is connected to the transverse support via the linearly slidable lifting plate; the drive shaft and the second drive motor are respectively mounted on the vertical support and are connected by a first transmission connection. A second transmission connection is established between the drive wheel and the driven wheel; a drive wheel and a driven wheel are respectively mounted on the vertical support, with the drive wheel coaxially fixed to the outer circumference of the drive shaft; a transmission belt engages with the drive wheel and the driven wheel; a control system is electrically connected to the first and second drive motors, controlling both synchronously or asynchronously: the first drive motor drives the ball screw through the first transmission connection, causing the screw nut to make the salvo platform slide linearly on the transverse support; the second drive motor drives the drive shaft to rotate through the second transmission connection, and the drive wheel and the transmission belt engage to drive the lifting plate to slide linearly along the vertical support, and drive the driven wheel to rotate.

[0005] According to an embodiment of the present invention, the salvo platform is provided with a first mating part, and the transverse support is provided with a second mating part. One of the first mating part and the second mating part forms a first sliding groove, and the other forms a first sliding rail. The first sliding groove and the first sliding rail are slidably mated.

[0006] In some embodiments, the first mating part forms a first groove, the second mating part forms a first slide rail, the first groove is inserted into the first slide rail, and slides linearly in the direction extending from the first slide rail.

[0007] According to one embodiment of the present invention, the lifting plate is provided with a third mating part, the vertical support is provided with a fourth mating part, one of the third mating part and the fourth mating part forms a second sliding groove, and the other forms a second sliding rail, and the second sliding groove and the second sliding rail are slidably mated.

[0008] In some embodiments, the third mating part forms a second sliding groove, the fourth mating part forms a second sliding rail, the second sliding groove is inserted into the second sliding rail, and slides linearly in the direction extending from the second sliding rail.

[0009] According to one embodiment of the present invention, the salvo device further includes: a tensioning device, comprising: a tensioning plate fixed to the lifting plate, wherein the tensioning plate is provided with teeth; a tensioning block fixedly connected to the tensioning plate and defining a transmission channel for the transmission belt to pass through, wherein the tensioning block is used to squeeze the transmission belt entering the transmission channel, such that the transmission belt and the tensioning plate engage with each other.

[0010] According to one embodiment of the present invention, the first drive motor is a servo motor and the second drive motor is a stepper motor.

[0011] According to one embodiment of the present invention, the second transmission connection is a gear transmission, including: an input gear and an output gear, wherein the input gear is disposed on the output shaft of the second drive motor, the output gear is disposed on the drive shaft, and the input gear and the output gear mesh with each other.

[0012] According to one embodiment of the present invention, the first transmission connection is a coupling, the two ends of which are respectively connected to the ball screw and the output shaft of the first drive motor, so as to transmit the rotational power of the first drive motor to the ball screw and drive the ball screw to rotate.

[0013] A second aspect of the present invention provides an underwater salvo test platform, which includes the aforementioned salvo device.

[0014] According to an embodiment of the present invention, the salvo firing device has a control system electrically connected to a first drive motor and a second drive motor, enabling synchronous or asynchronous control. In synchronous control mode, the two motors operate collaboratively. On the horizontal support, the output shaft of the first drive motor is coaxially connected to a ball screw via a first transmission connection, precisely transmitting power to the ball screw. The rotation of the ball screw drives the screw nut to linearly slide the salvo firing platform, achieving stepless speed regulation from 0.1 to 2000 mm / s, with a movement resolution of ±0.05 mm and a dynamic error controlled within 1 mm. In the vertical direction, the second drive motor drives the drive shaft via a second transmission connection. The rotation of the drive shaft drives the coaxial drive wheel to rotate, which, through a transmission belt, drives the lifting plate to linearly slide along the vertical support, increasing the adjustment speed to 300 mm / s and achieving a positioning accuracy of ±1 mm, ensuring precise coordination between horizontal and vertical movements. In asynchronous control mode, the control system can adjust either motor independently. To adjust the horizontal position, the first drive motor drives the ball screw and screw nut to achieve high-precision horizontal displacement. To adjust the vertical height, the second drive motor precisely controls the movement of the lifting plate through the drive shaft, drive wheel and transmission belt, meeting the individual adjustment needs under different working conditions and avoiding mutual interference between the two-way adjustments, thereby enhancing the flexibility of adjustment.

[0015] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a first-view structural schematic diagram of the salvo firing device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the second perspective structure of the salvo firing device according to an embodiment of the present invention; Figure 3 A schematic diagram of the horizontal linear sliding structure of the salvo platform and the transverse support from a first-person perspective. Figure 4 A schematic diagram of the horizontal second-view linear sliding structure of the salvo platform and the transverse support; Figure 5 A schematic diagram of the horizontal third-person perspective linear sliding structure of the salvo platform and the transverse support; Figure 6 This is a schematic diagram of a vertical linear sliding structure between a vertical support and a lifting plate. Figure 7 This is a partial structural diagram of the drive pulley, transmission belt, drive shaft, and output shaft of the second drive motor; Figure 8 This is a partial structural diagram of the driven wheel, transmission belt, and lifting plate on a vertical support. Figure 9 This is a partial structural diagram of the lifting plate, clamping device, and transmission belt.

[0018] Explanation of reference numerals in the attached figures: 100 salvo devices The components include: a salvo firing platform 10, a first mating part 101, a transverse support 11, a second mating part 111, a ball screw 12, a screw nut 13, a first drive motor 14, a coupling 15, and a rotating body 16. Lifting plate 20, third mating part 201, clamping device 21, tensioning plate 211, tensioning block 212. Vertical support 30, fourth mating part 301, drive shaft 31, second drive motor 32, drive wheel 33, driven wheel 34, transmission belt 35, input gear 36, output gear 37. Control system 40. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms “comprising” and “having”, and any variations thereof, in the specification, claims and drawings of this invention are intended to cover non-exclusive inclusion.

[0021] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0022] The directional terms appearing in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of the salvo device of the present invention. For example, in the description of the present invention, the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0023] Furthermore, the terms "first," "second," etc., in the specification and claims of this invention or the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order, and may explicitly or implicitly include one or more of the features.

[0024] In the description of this invention, unless otherwise stated, "a plurality of" means two or more (including two), and similarly, "a plurality of groups" means two or more (including two groups).

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, "connection" or "linking" in mechanical structures can refer to a physical connection, such as a fixed connection, for example, a connection fixed by fasteners, such as a connection fixed by screws, bolts, or other fasteners; a physical connection can also be a detachable connection, such as a snap-fit ​​or interlocking connection; a physical connection can also be an integral connection, for example, a connection formed by welding, bonding, or integral molding. In circuit structures, "connection" or "linking" can refer not only to a physical connection but also to an electrical connection or a signal connection. For example, it can be a direct connection, i.e., a physical connection, or an indirect connection through at least one intermediate element, as long as the circuit is connected; it can also refer to the internal connection of two elements. A signal connection can refer not only to a signal connection through a circuit but also to a signal connection through a media, such as radio waves. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0027] Figure 1 This is a first-view structural schematic diagram of the salvo firing device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the second perspective structure of the salvo firing device according to an embodiment of the present invention; Figure 3 A schematic diagram of the horizontal linear sliding structure of the salvo platform and the transverse support from a first-person perspective. Figure 4 A schematic diagram of the horizontal second-view linear sliding structure of the salvo platform and the transverse support; Figure 5 A schematic diagram of the horizontal third-person perspective linear sliding structure of the salvo platform and the transverse support; Figure 6 This is a schematic diagram of a vertical linear sliding structure between a vertical support and a lifting plate. Figure 7 This is a partial structural diagram of the drive wheel, transmission belt, drive shaft, and output shaft of the second drive motor 32; Figure 8 This is a partial structural diagram of the driven wheel, transmission belt, and lifting plate on a vertical support. Figure 9 This is a partial structural diagram of the lifting plate, clamping device, and transmission belt. Figures 1 to 9 As shown, the first aspect of the present invention provides a salvo firing device 100, which includes: a salvo firing platform 10, a transverse support 11, a ball screw 12, a first drive motor 14, a screw nut 13, a lifting plate 20, a vertical support 30, a drive shaft 31, a second drive motor 32, a drive wheel 33, a driven wheel 34, a transmission belt 35, and a control system 40.

[0028] like Figure 1As shown, the salvo platform 10 can slide linearly along the transverse support 11. That is, the salvo platform 10 is mounted on the transverse support 11 and can move linearly on the transverse support 11. The rotating body 16 is mounted on the salvo platform 10. The ball screw 12 and the first drive motor 14 are respectively mounted on the transverse support 11 and are connected by a first transmission connection. That is, the output shaft of the first drive motor 14 is coaxially connected to the ball screw 12 through the first transmission connection. The screw nut 13 is fixed on the salvo platform 10 and engages with the ball screw 12. That is, the balls inside the screw nut 13 form a rolling engagement with the helical raceway on the outer circumference of the ball screw 12. The output shaft of the first drive motor 14 is coaxially connected to the ball screw 12 through the first transmission connection. Furthermore, the first transmission connection transmits the power of the first drive motor 14 to the ball screw 12. The ball screw 12 rotates, causing the balls in the screw nut 13 to roll in the helical raceway on the outer periphery of the ball screw 12, so as to convert the rotational motion of the ball screw 12 into the axial thrust of the screw nut 13, thereby driving the screw nut 13 to drive the salvo platform 10 to make synchronous linear motion on the transverse support 11.

[0029] To more precisely control the movement speed of the salvo platform 10 on the transverse support 11 and ensure accurate speed adjustment, thereby achieving precise horizontal adjustment of the rotating body 16. Figure 2 As shown and Figure 3 As shown, the ball screw 12 and the first drive motor 14 are respectively mounted on the transverse support 11. Specifically, the first drive motor 14 is fixed on the transverse support 11, and the ball screw 12 is fixed at the end of the transverse support 11 away from the first drive motor 14. The first drive motor 14 and the ball screw 12 are arranged in a straight line on the transverse support 11 to achieve speed control and adjustment of the firing platform 10 along the horizontal extension direction of the transverse support 11. The balls in the screw nut 13 form a rolling engagement with the helical raceway on the outer periphery of the ball screw 12. Furthermore, since the ball screw 12 has a helical raceway on its outer circumference, which cooperates with the inner balls of the screw nut 13, when the first drive motor 14 starts, it transmits rotational power to the ball screw 12, causing the ball screw 12 to rotate. The friction of the mating surface pushes the screw nut 13 to advance linearly along the axis of the ball screw 12. Since the screw nut 13 is fixedly connected to the firing platform 10, the screw nut 13 drives the firing platform 10 to advance linearly along the extension direction of the transverse support 11, thereby driving the rotating body 16 installed on the firing platform 10 to move horizontally. Its moving speed is precisely controlled by the first drive motor 14 and the ball screw 12, so that the accuracy of the rotating body 16 in the horizontal direction can be adjusted by controlling the moving speed, making the horizontal parameters of the rotating body 16 more accurate.

[0030] To ensure that the power of the first drive motor 14 can be efficiently, accurately, and stably transmitted to the ball screw 12, thereby achieving high-precision control of the horizontal movement speed and position of the rotating body 16, and improving the accuracy of the launch parameters of the rotating body 16 in lateral movement, so as to meet the high precision and high efficiency requirements of underwater launch tests. Figure 2 As shown and Figure 4 As shown, the output shaft of the first drive motor 14 is coaxially connected to the ball screw 12 via a first transmission connection. Furthermore, the problem this first transmission connection addresses in this invention is to transmit the power of the first drive motor 14 to the ball screw 12 without deviation, causing the ball screw 12 to rotate, thereby achieving precise speed adjustment and position control of the rotating body 16 in the horizontal direction. Because the two are coaxially connected, there will be no torque loss or transmission disruption due to angular deviation during power transmission, ensuring high efficiency and stability of power transmission.

[0031] Through a coaxial connection, in conjunction with the control system 40 of the first drive motor 14 and the ball screw 12, precise control of the horizontal movement speed of the rotating body 16 can be achieved. Whether it is low-speed fine positioning (as low as 0.1mm / s) or high-speed rapid movement (up to 2000mm / s), stable power transmission can be guaranteed, thereby achieving high-precision displacement control of the rotating body 16 in the horizontal direction. This enables the movement resolution of the rotating body 16 to reach ±0.05mm, and the dynamic error to be controlled within 1mm, greatly improving the accuracy and performance of the lateral movement control of the underwater launch platform.

[0032] The precision of the parameters of the rotating body 16 is determined by both the lateral movement (horizontal direction) and the vertical movement (water depth direction). This means that not only must the lateral movement speed and position be precisely controlled, but also the speed and position in the vertical direction (water depth direction) must be precisely controlled. Therefore, the salvo device 100 also includes a vertical support 30. To achieve synchronous control of the lateral movement (horizontal direction) and the vertical movement (water depth direction), the vertical support is connected to the lateral support via a linearly sliding lifting plate. In other words, the vertical support 30 and the lateral support 11 are connected by a lifting plate 20, which can move linearly on the vertical support 30, thereby achieving synchronous control of their speed and position, further enabling precise control of the rotating body 16. Furthermore, by connecting the vertical support 30 and the lateral support 11 via the lifting plate 20, and enabling the lifting plate 20 to move linearly on the vertical support 30, a linkage structure for lateral and vertical movement is constructed. When it is necessary to adjust the parameters of the rotating body 16, on the one hand, the ball screw 12 on the transverse support 11 works in conjunction with the first drive motor 14 to precisely control the moving speed and position of the rotating body 16 in the horizontal direction; on the other hand, the lifting plate 20 on the vertical support 30 can move in the vertical direction to achieve precise adjustment.

[0033] To drive the lifting plate 20 to move on the vertical support 30, the salvo device 100 further includes: a drive shaft 31, a second drive motor 32, a drive wheel 33, a driven wheel 34, and a transmission belt 35. The drive shaft 31 and the second drive motor 32 are respectively mounted on the vertical support 30 and are connected by a second transmission connection. That is, the drive shaft 31 is second-transmission connected to the output shaft of the second drive motor 32. The drive wheel and the driven wheel are respectively mounted on the vertical support, with the drive wheel coaxially fixed to the outer circumference of the drive shaft. Specifically, the drive wheel 33 is mounted on the drive shaft 31 (i.e., the drive shaft 31 and the drive wheel 33 are coaxially mounted, and the drive wheel 33 rotates coaxially with the drive shaft 31) and has teeth. The driven wheel 34 is mounted on the end of the vertical support 30 away from the drive wheel 33. The transmission belt meshes with the drive wheel and the driven wheel. That is, the driven wheel 34 and the drive wheel 33 are connected by the transmission belt 35, and the grooves on the transmission belt mesh with the teeth on the drive wheel 33.

[0034] The second drive motor 32 transmits power to the drive shaft 31 through the second transmission connection. The rotation of the drive shaft 31 drives the drive wheel 33 to rotate coaxially. The rotation of the drive wheel 33 drives the drive belt 35 to move through the friction between the drive belt 35 and the meshing of the teeth. The movement of the drive belt 35 drives the lifting plate 20 to slide linearly along the vertical support 30 and drives the driven wheel 34 to rotate.

[0035] like Figure 2As shown, the control system is electrically connected to the first and second drive motors, controlling them synchronously or asynchronously: the first drive motor drives the ball screw through the first transmission connection, which drives the screw nut to make the salvo platform slide linearly on the transverse support; the second drive motor drives the drive shaft to rotate through the second transmission connection, and the drive wheel and the transmission belt mesh to drive the lifting plate to slide linearly along the vertical support, and drive the driven wheel to rotate.

[0036] Specifically, the first drive motor 14 transmits power to the ball screw 12 through the first transmission connection, and drives the screw nut 13 to drive the salvo platform 10 to slide linearly on the transverse support 11; the second drive motor 32 transmits power to the drive shaft through the second transmission connection, drives the drive shaft 31 to rotate, and the drive wheel 33 and the transmission belt 35 drive the lifting plate 20 to slide linearly along the vertical support 30 through friction and meshing.

[0037] The control system 40 achieves synchronous or asynchronous control of the first drive motor 14 and the second drive motor 32 through electrical connection.

[0038] In synchronous control mode, the control system 40 simultaneously sends commands to both motors, enabling them to operate in coordination. The first drive motor 14 transmits power to the ball screw 12 via a first transmission connection. The ball screw 12 rotates, causing the screw nut 13 and the firing platform 10 to slide linearly on the transverse support 11, achieving stepless speed regulation from 0.1 to 2000 mm / s, with a movement resolution of ±0.05 mm and a dynamic error controlled within 1 mm. Simultaneously, the second drive motor 32 transmits power to the drive shaft 31 via a transmission connection, causing the drive shaft 31 to rotate. The drive wheel 33 and the transmission belt 35, through friction and meshing, drive the lifting plate 20 to slide linearly along the vertical support 30, increasing the vertical adjustment speed to 300 mm / s and achieving a positioning accuracy of ±1 mm. Together, these two motors precisely adjust the horizontal position and water depth of the rotating body 16.

[0039] In asynchronous control mode, the control system 40 can independently control the two motors. If fine-tuning of the horizontal position of the rotating body 16 is required, the first drive motor 14 can be controlled independently, achieving precise horizontal positioning via the ball screw 12. If adjusting the water depth is required, the second drive motor 32 can be started independently, quickly and accurately adjusting the position of the lifting plate 20 via the transmission belt 35. This avoids the problem of mutual interference between horizontal and vertical adjustments in traditional systems.

[0040] Practical application data shows that, after adopting this scheme, in a single test, 20 sets of tests at different depths that would have taken 2 days using traditional methods were completed in just 3 hours. This significantly improves the efficiency and parameter adjustment accuracy of underwater launch tests, ensuring the acquisition of reliable test data.

[0041] Because the lifting plate 20 links the movements in two directions, under the unified coordination of the control system 40, synchronous adjustment of the lateral and vertical motion parameters can be achieved, improving the efficiency and parameter adjustment accuracy of underwater launch tests. In this way, both the horizontal positioning of the rotating body 16 and the control of the water depth can be completed collaboratively with high precision and efficiency, greatly improving the overall accuracy of the launch parameters of the rotating body 16, better meeting the stringent requirements of underwater launch tests for high precision and efficiency, and ensuring the reliability and validity of the test data.

[0042] According to an embodiment of the present invention, the salvo firing device 100 has a control system 40 electrically connected to a first drive motor 14 and a second drive motor 32, enabling synchronous or asynchronous control. In synchronous control mode, the two motors operate collaboratively. On the horizontal support 11, the output shaft of the first drive motor 14 is coaxially connected to a ball screw 12 via a first transmission connection, precisely transmitting power to the ball screw 12. The rotation of the ball screw 12 drives the screw nut 13 to linearly slide the salvo firing platform 10, achieving stepless speed regulation from 0.1 to 2000 mm / s, with a movement resolution of ±0.05 mm and a dynamic error controlled within 1 mm. In the vertical direction, the second drive motor 32 drives the drive shaft 31 via a second transmission connection. The rotation of the drive shaft 31 drives the coaxial drive wheel 33 to rotate, which, through a transmission belt 35, drives the lifting plate 20 to linearly slide along the vertical support 30, increasing the adjustment speed to 300 mm / s and achieving a positioning accuracy of ±1 mm, ensuring precise coordination between horizontal and vertical movements. In asynchronous control mode, the control system 40 can adjust either motor independently. If the horizontal position needs to be adjusted, the first drive motor 14 drives the ball screw 12 to cooperate with the screw nut 13 to achieve high-precision horizontal displacement; if the vertical height needs to be adjusted, the second drive motor 32 precisely controls the movement of the lifting plate 20 through the drive shaft 31, drive wheel 33 and transmission belt 35 to meet the individual adjustment needs under different working conditions, avoid mutual interference between the two-way adjustments, and thus enhance the flexibility of adjustment.

[0043] According to one embodiment of the present invention, in order to enable the salvo platform 10 to slide linearly on the transverse support 11, as follows: Figure 5 As shown, the salvo platform 10 is provided with a first mating part 101, and the transverse support 11 is provided with a second mating part 111. One of the first mating part 101 and the second mating part 111 forms a first sliding groove, and the other forms a first sliding rail. The first sliding groove and the first sliding rail are in sliding engagement.

[0044] In other words, to achieve linear sliding of the salvo platform 10 on the transverse support 11 in the horizontal direction, this invention provides two solutions for achieving linear sliding in the horizontal direction. When the first mating part 101 forms a first groove and the second mating part 111 forms a first slide rail, the first groove is inserted into the first slide rail and slides linearly along the direction of extension of the first slide rail, thereby achieving linear sliding of the salvo platform 10 on the transverse support 11. Similarly, when the first mating part 101 forms a first slide rail and the second mating part 111 forms a second groove, the first slide rail is inserted into the first groove and slides linearly along the direction of extension of the first groove, thereby achieving linear sliding of the salvo platform 10 on the transverse support 11.

[0045] In some embodiments, the first mating part 101 preferably forms a first sliding groove, and the second mating part 111 forms a first sliding rail. The first sliding groove is inserted into the first sliding rail and slides linearly in the direction of the extension of the first sliding rail, so as to realize that the salvo platform 10 slides linearly on the transverse support 11.

[0046] According to one embodiment of the present invention, in order to achieve linear sliding of the lifting plate 20 on the vertical support 30 (in the water depth direction), such as Figure 8 and Figure 9 As shown, the lifting plate 20 is provided with a third mating part 201, and the vertical support 30 is provided with a fourth mating part 301. One of the third mating part 201 and the fourth mating part 301 forms a second sliding groove, and the other forms a second sliding rail. The second sliding groove and the second sliding rail are in sliding fit.

[0047] In other words, to achieve linear sliding of the lifting plate 20 on the vertical support 30 in the vertical direction (i.e., the water depth direction), the present invention provides two methods for achieving linear sliding in the vertical direction. When the third mating part 201 forms a second groove and the fourth mating part 301 forms a second slide rail, the second groove is inserted into the second slide rail and slides linearly in the direction extending from the second slide rail. Similarly, when the third mating part 201 forms a second slider and the fourth mating part 301 forms a second groove, the second slider is inserted into the second groove and slides linearly along the direction extending from the second groove, thereby achieving linear sliding of the lifting plate 20 on the vertical support 30.

[0048] In some embodiments, the present invention preferably forms a second sliding groove in the third mating part 201 and a second sliding rail in the fourth mating part 301. The second sliding groove is inserted into the second sliding rail and slides linearly in the direction of extension of the second sliding rail, so as to realize that the lifting plate 20 slides linearly on the vertical support 30.

[0049] According to one embodiment of the present invention, in order to ensure the smoothness of the transmission between the lifting plate 20 and the transmission belt 35, such as Figure 8 and Figure 9As shown, the salvo device 100 also includes a clamping device 21, which is fixedly connected to the lifting plate 20. Specifically, the clamping device 21 includes a tensioning plate 211 and a tensioning block 212.

[0050] Tensioner 211 is fixed to lifting plate 20, and tensioner 211 has teeth. Tensioner 212 is fixedly connected to tensioner 211 and defines a transmission channel through which transmission belt 35 passes. Tensioner 212 is used to compress transmission belt 35 entering the transmission channel, so that transmission belt and tensioner 211 mesh with each other to achieve smooth transmission.

[0051] According to an embodiment of the present invention, in order to achieve the accuracy of speed and position when the salvo platform 10 slides linearly on the transverse support 11, and in order to achieve the accuracy of speed and position when the lifting plate 20 slides linearly on the vertical support 30, the first drive motor 14 is a servo motor to achieve the accuracy of speed and position when the salvo platform 10 slides linearly, and the second drive motor 32 is a stepper motor to achieve the accuracy of speed and position when the lifting plate 20 slides linearly on the vertical support 30.

[0052] In this invention, the first drive motor 14 can be any other motor or mechanism capable of performing the same driving function. Therefore, this invention does not limit the type of the first drive motor 14 or the mechanism that provides the driving function. However, in this invention, the first drive motor 14 is preferably a servo motor because, in the horizontal direction, the salvo platform 10 relies on the first drive motor 14 to drive the ball screw 12 to rotate via the first transmission connection, thereby causing the screw nut 13 and the salvo platform 10 to perform linear motion on the transverse support 11, thus achieving the horizontal displacement of the rotating body 16 for precise positioning. To ensure the accuracy of the parameters of the rotating body 16, the horizontal motion control must achieve extremely high precision. In this invention, the first drive motor 14 is preferably a servo motor because a servo motor can achieve closed-loop control, enabling real-time monitoring and feedback of the motor's actual position, speed, and torque information.

[0053] When the control system 40 issues a horizontal movement command, the servo motor can respond quickly according to the preset parameters. Through real-time interaction with the controller, it can accurately adjust the output and promptly correct any operational deviations caused by mechanical errors, load changes, or other factors. This ensures that the positioning accuracy of the salvo platform 10 is more compatible with the target position during horizontal movement. At the same time, it can flexibly adjust the speed and torque according to different working conditions to ensure that the rotating body 16 moves smoothly, efficiently, and accurately in the horizontal direction.

[0054] In this invention, the second drive motor 32 can be any other motor or mechanism capable of performing the same driving function. Therefore, this invention does not limit the type of the second drive motor 32 or the mechanism that provides the driving function. However, in this invention, the second drive motor 32 is preferably a stepper motor because in the vertical direction (i.e., the water depth direction), the second drive motor 32 needs to drive the drive shaft 31, which in turn drives the lifting plate 20 to slide linearly along the vertical support 30 via the drive wheel 33 and the transmission belt 35, thereby adjusting the vertical position of the rotating body 16. To ensure that the linear sliding in this direction can achieve precise displacement control and stable positioning, the second drive motor 32 is preferably a stepper motor in this invention. This is because the stepper motor controls rotation by receiving pulse signals. Each pulse input causes the motor to rotate by a fixed angle. This precise pulse drive method allows the lifting plate 20 to be precisely adjusted according to a preset distance or depth, thereby achieving precise displacement control of the rotating body 16 in the vertical direction.

[0055] In addition, the stepper motor has a good self-locking function. When the motor stops receiving pulse signals, it can immediately lock the current position, effectively preventing the lifting plate 20 from shifting in the vertical direction due to external forces such as gravity and water flow impact. This ensures the stability and reliability of the salvo device 100 when operating in deep water, and thus guarantees the accuracy of the vertical parameters of the rotating body 16.

[0056] According to one embodiment of the present invention, in order to realize the transmission of power from the second drive motor 32 to the drive shaft 31 through the second transmission connection and to ensure the accuracy of power transmission through the second transmission connection, the second transmission connection is preferably a gear transmission, or it can be other devices or structures that can realize power transmission. The present invention does not limit the manner of the second transmission connection, such as... Figure 7 As shown, the gear transmission includes an input gear 36 and an output gear 37. The input gear 36 is mounted on the output shaft of the second drive motor 32, and the output gear 37 is mounted on the drive shaft 31. The input gear 36 and the output gear 37 mesh with each other. When the second drive motor 32 is working, the output shaft drives the input gear 36 to rotate, and through the meshing of the gears, it drives the output gear 37 and the drive shaft 31 to rotate synchronously, thereby transmitting power to the drive shaft 31.

[0057] According to an embodiment of the present invention, in order to ensure that the first drive motor 14 accurately transmits power to the ball screw 12, the first transmission connection is a coupling 15, or other connecting parts or structures capable of power transmission. The present invention does not limit the type of the first transmission connection, but preferably uses a coupling 15. Both ends of the coupling 15 are connected to the ball screw 12 and the output shaft of the first drive motor 14, respectively, to transmit the rotational power of the first drive motor 14 to the ball screw 12, driving the ball screw 12 to rotate. When the first drive motor 14 drives, the power is transmitted to the ball screw 12 through the coupling 15, causing the ball screw 12 to rotate. The rotation of the ball screw 12 drives the screw nut 13 and the firing platform 10 to slide linearly along the direction of the transverse support 11, thereby achieving precise positioning of the rotating body 16.

[0058] According to one embodiment of the present invention, in order to ensure the stability of power transmission, the transmission belt 35 is a belt, but it can also be other structures or types of transmission belts 35 that can realize the power transmission function. Therefore, the transmission belt 35 with the power transmission function is not limited in the present invention. In the present invention, the transmission belt 35 is preferably a belt because the belt material has good flexibility and elasticity, which can closely fit the contours of the driving wheel 33 and the driven wheel 34, avoiding slippage during transmission and ensuring the stability of power transmission.

[0059] For example, when the second drive motor 32 drives the drive shaft 31 to rotate, the drive wheel 33 transmits power through meshing with the belt teeth. The elasticity of the belt can buffer the impact caused by mechanical vibration or sudden load changes, ensuring that the lifting plate 20 slides smoothly and steadily along the vertical support 30, and avoiding deviations in the position control of the rotating body 16 in the water depth direction due to unstable power transmission. In addition, the belt material has low cost and is easy to install and maintain.

[0060] A second aspect of the present invention provides an underwater salvo test platform, the underwater salvo test platform including the aforementioned salvo device.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A salvo device, characterized in that include: A salvo firing platform and a transverse support, wherein the salvo firing platform can slide linearly along the transverse support; The ball screw and the first drive motor are respectively mounted on the transverse support, and the two are connected by a first transmission. A lead screw nut is fixed on the firing platform, and the lead screw nut is engaged with the ball screw. Lifting plate; A vertical support is connected to a horizontal support via a lifting plate that can slide linearly. The drive shaft and the second drive motor are respectively mounted on the vertical support, and the two are connected by a second transmission. The driving wheel and the driven wheel are respectively mounted on the vertical support, and the driving wheel is coaxially fixed to the outer periphery of the driving shaft; A transmission belt engages with the driving pulley and the driven pulley; The control system is electrically connected to the first drive motor and the second drive motor, and controls them synchronously or asynchronously: the first drive motor drives the ball screw through the first transmission connection, and drives the screw nut to make the firing platform slide linearly on the transverse support; The second drive motor drives the drive shaft to rotate through the second transmission connection. The drive wheel and the transmission belt mesh to drive the lifting plate to slide linearly along the vertical support and drive the driven wheel to rotate.

2. The salvo device according to claim 1, characterized in that The salvo platform is provided with a first mating part, and the transverse support is provided with a second mating part. One of the first mating part and the second mating part forms a first sliding groove, and the other forms a first sliding rail. The first sliding groove and the first sliding rail are in sliding engagement.

3. The salvo device according to claim 2, characterized in that The first mating part forms a first sliding groove, and the second mating part forms a first sliding rail. The first sliding groove is inserted into the first sliding rail and slides linearly in the direction extending from the first sliding rail.

4. The salvo device of claim 1, wherein, The lifting plate is provided with a third mating part, and the vertical support is provided with a fourth mating part. One of the third mating part and the fourth mating part forms a second sliding groove, and the other forms a second sliding rail. The second sliding groove and the second sliding rail are in sliding engagement.

5. The salvo device of claim 4, wherein, The third mating part forms a second sliding groove, and the fourth mating part forms a second sliding rail. The second sliding groove is inserted into the second sliding rail and slides linearly in the direction extending from the second sliding rail.

6. The salvo device of claim 1, wherein, Also includes: The clamping device includes: A tensioning plate is fixed to the lifting plate, and the tensioning plate is provided with teeth; A tensioning block is fixedly connected to the tensioning plate and defines a transmission channel through which the transmission belt passes, wherein the tensioning block is used to compress the transmission belt entering the transmission channel, such that the transmission belt engages with the tensioning plate.

7. The salvo device of claim 1, wherein, The first drive motor is a servo motor, and the second drive motor is a stepper motor.

8. The salvo device of claim 1, wherein, The second transmission connection is a gear transmission, including an input gear and an output gear. The input gear is mounted on the output shaft of the second drive motor, and the output gear is mounted on the drive shaft. The input gear and the output gear mesh with each other.

9. The salvo device of claim 1, wherein, The first transmission connection is a coupling, with its two ends connected to the ball screw and the output shaft of the first drive motor, respectively, so as to transmit the rotational power of the first drive motor to the ball screw and drive the ball screw to rotate.

10. An underwater salvo test platform, characterized in that, The salvo device according to any one of claims 1-9. The salvo device according to any one of claims 1-9.

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