Self-balancing offshore artillery simulation launching training platform

Abstract

The utility model relates to a self-balancing offshore artillery simulation launching training platform, which comprises a double-six-degree-of-freedom lower platform, the double-six-degree-of-freedom lower platform comprises an upper layer and a lower layer, the upper layer and the lower layer are connected through a plurality of first connecting rods, and a lower platform electric appliance box is arranged between the upper layer and the lower layer; the lower platform electric appliance box is used for controlling movement of the first connecting rod; the double-six-degree-of-freedom upper platform is connected and built on the upper layer of the double-six-degree-of-freedom lower platform through a plurality of second connecting rods, the double-six-degree-of-freedom upper platform is connected with the upper layer through a plurality of second connecting rods, and an upper platform electric appliance box is arranged between the double-six-degree-of-freedom upper platform and the upper layer; the upper platform electric appliance box is used for controlling movement of the second connecting rod; the double-six-degree-of-freedom lower platform simulates fluctuation of sea surface waves through a first connecting rod, and the double-six-degree-of-freedom upper platform balances the influence of the fluctuation of the sea surface waves on the upper surface platform through a second connecting rod; a three-degree-of-freedom simulation artillery launching structure is further arranged on the upper surface of the double-six-degree-of-freedom upper platform.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a novel self-balancing marine artillery simulation firing training platform. Technical Background

[0002] Currently, dual six-degree-of-freedom self-balancing platforms are commonly used in scientific research simulations. Traditional dual six-degree-of-freedom self-balancing platforms lack the three-degree-of-freedom (DOF) mechanism for simulating artillery aiming and firing. Simulating artillery firing on the ground doesn't accurately simulate actual sea conditions, leading to a significant gap between training and actual combat. Simulating wave sway typically requires manual rocking of the platform, resulting in a low level of automation and hindering training. Utility Model Content

[0003] In order to solve the above technical problems, the present application aims to provide a self-balancing marine artillery simulation launch training platform, which is designed with a dual six-degree-of-freedom self-balancing structure. Two six-degree-of-freedom platforms are stacked to balance the impact of sea wave fluctuations on the platform.

[0004] The present application is a self-balancing marine artillery simulation firing training platform, the training platform comprising a dual six-degree-of-freedom lower platform, the dual six-degree-of-freedom lower platform comprising an upper and lower layer, the upper and lower layers being connected by a plurality of first connecting rods, a lower platform electrical box being provided between the lower and upper layers; the lower platform electrical box being used to control the movement of the first connecting rods;

[0005] A double six-degree-of-freedom upper platform, the double six-degree-of-freedom upper platform being connected to the upper layer of the double six-degree-of-freedom lower platform via a plurality of second connecting rods, the double six-degree-of-freedom upper platform and the upper layer being connected via a plurality of second connecting rods, an upper platform electrical box being provided between the double six-degree-of-freedom upper platform and the upper layer; the upper platform electrical box being used to control the movement of the second connecting rods;

[0006] The double six-degree-of-freedom lower platform simulates the ups and downs of sea waves through the first connecting rod, and the double six-degree-of-freedom upper platform balances the influence of the ups and downs of sea waves on the upper surface platform through the second connecting rod;

[0007] A three-degree-of-freedom simulated artillery firing structure is also provided on the upper surface of the dual six-degree-of-freedom upper platform.

[0008] Furthermore, the dual six-degree-of-freedom lower platform includes an upper table, an inertial gyroscope, a first servo electric cylinder, a lower platform electrical box, and a lower table; wherein,

[0009] The main body of the first connecting rod is a first servo electric cylinder, one end of the first servo electric cylinder is connected to the lower table, and the other end is connected to the upper table;

[0010] The inertial navigation gyroscope is fixed below the upper table.

[0011] Furthermore, the dual six-degree-of-freedom upper platform includes an upper table, a gyroscope, a second servo electric cylinder, and an upper platform electrical box; wherein,

[0012] The main body of the second connecting rod is a second servo electric cylinder. One end of the second servo electric cylinder is connected to the upper surface of the double six-degree-of-freedom lower platform, and the other end is connected to the upper surface of the double six-degree-of-freedom upper platform.

[0013] Furthermore, the three-degree-of-freedom simulated artillery aiming and firing structure comprises a hollow rotating platform, a servo motor, a planetary reducer, a slide module, a three-degree-of-freedom rotating base, a rotating axis, a slide module fixing plate, and a gun model;

[0014] A power assembly consisting of a servo motor and a planetary reducer is installed on the hollow rotating platform. The power assembly is connected to a three-degree-of-freedom rotating base. The rotating shaft on the three-degree-of-freedom rotating base is fixedly connected to the slide module. The artillery model is installed in the slide module.

[0015] Furthermore, fixed plates are provided on both sides of the slide module, and the fixed plates are used to provide installation positioning for the artillery model.

[0016] Furthermore, a rotation limit column and a pitch limit rod are provided next to the slide module, and the rotation limit column and the pitch limit rod are used to provide movement limit for the artillery model.

[0017] Furthermore, the hollow rotating platform is vertically mounted on the upper surface of the dual six-degree-of-freedom upper platform.

[0018] The utility model has the following advantages:

[0019] 1. A three-degree-of-freedom (DOF) simulated artillery aiming and firing structure was designed to simulate artillery aiming and firing as realistically as possible. The three-degree-of-freedom platform has artillery elevation and rotation limits, which can more realistically simulate the actual use of artillery.

[0020] 2. A dual six-degree-of-freedom self-balancing structure is designed. Two six-degree-of-freedom platforms are stacked. The lower six-degree-of-freedom platform simulates the fluctuations of the sea. The upper platform offsets the impact of the sea surface waves on the platform. This keeps the platform in a relatively balanced and stable state, making it easier to aim the gun without being affected by the waves.

[0021] 3. A dual six-degree-of-freedom self-balancing structure has been designed. Two six-degree-of-freedom platforms are stacked, with the lower six-degree-of-freedom platform simulating the ups and downs of the ocean. The upper platform can also simulate the ups and downs of the ocean, which increases the sway of the upper platform of the dual six-degree-of-freedom platform, making it more difficult to aim the artillery. However, this can increase the difficulty of training and improve skills.

[0022] 4. The combination of a dual six-degree-of-freedom self-balancing structure and a three-degree-of-freedom simulated artillery aiming and firing structure allows the artillery to be positioned on the sea surface without being affected by the ups and downs of the sea surface, achieving higher aiming accuracy. The high degree of automation avoids frequent adjustments to the artillery due to aiming. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is the overall structural diagram of a self-balancing marine artillery simulation firing training platform of the utility model;

[0024] Figure 2 This is the overall structural diagram of a self-balancing marine artillery simulation firing training platform of the utility model;

[0025] Figure 3 This is a structural diagram of the dual six-degree-of-freedom lower platform portion in the embodiment;

[0026] Figure 4 This is a structural diagram of the dual six-degree-of-freedom upper platform portion in the embodiment;

[0027] Figure 5 3. It is a structural diagram of the three-degree-of-freedom simulation artillery aiming and firing structure in the embodiment;

[0028] In the figure, 1-three-degree-of-freedom simulated artillery firing structure, 2-double six-degree-of-freedom upper platform, 3-double six-degree-of-freedom lower platform, 4-double six-degree-of-freedom lower platform, 5-double six-degree-of-freedom upper platform electrical box, 6-double six-degree-of-freedom lower platform electrical box;

[0029] 31-Upper surface of the dual six-degree-of-freedom lower platform, 32-Inertial navigation gyroscope, 33-M110 inclined block, 34-M110 horizontal Hook hinge, 35-M110 servo electric cylinder, 36-Dynamic braiding trough, 37-Lower surface of the dual six-degree-of-freedom lower platform, 38-Foma wheel;

[0030] 41- Upper surface of the dual six-degree-of-freedom upper platform, 42- Gyroscope, 43- M80 inclined block, 44- M80 horizontal Hooke's hinge, 45- M80 servo electric cylinder;

[0031] 51-hollow rotating platform, 52-slide module, 54-slide module fixing plate, 55-artillery model, 56-first vertical plate, 57-second vertical plate, 58-power assembly, 59-rotation limit column. DETAILED DESCRIPTION

[0032] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0033] The present application discloses a novel self-balancing marine artillery simulation firing training platform for simulating marine artillery firing training. The platform consists of three major parts: a dual six-degree-of-freedom lower platform, a dual six-degree-of-freedom upper platform, and a three-degree-of-freedom simulated artillery aiming and firing structure.

[0034] like Figure 1 、 Figure 2 As shown, this embodiment provides a self-balancing marine artillery simulation firing training platform, the training platform comprising a dual six-degree-of-freedom lower platform, the dual six-degree-of-freedom lower platform comprising an upper and lower layer, the upper and lower layers being connected by a plurality of first connecting rods, a lower platform electrical box being provided between the lower and upper layers; the lower platform electrical box being used to control the movement of the first connecting rods;

[0035] A double six-degree-of-freedom upper platform, the double six-degree-of-freedom upper platform being connected to the upper layer of the double six-degree-of-freedom lower platform via a plurality of second connecting rods, the double six-degree-of-freedom upper platform and the upper layer being connected via a plurality of second connecting rods, an upper platform electrical box being provided between the double six-degree-of-freedom upper platform and the upper layer; the upper platform electrical box being used to control the movement of the second connecting rods;

[0036] The double six-degree-of-freedom lower platform simulates the ups and downs of sea waves through the first connecting rod, and the double six-degree-of-freedom upper platform balances the influence of the ups and downs of sea waves on the upper surface platform through the second connecting rod;

[0037] A three-degree-of-freedom simulated artillery firing structure is also provided on the upper surface of the dual six-degree-of-freedom upper platform.

[0038] The double six-degree-of-freedom lower platform consists of an upper table, an inertial navigation gyroscope, an M110 inclined block, an M110 horizontal Hook hinge, an M110 servo electric cylinder, an electrical box, a lower table, and a Fomar wheel.

[0039] like Figure 3 As shown, the dual six-degree-of-freedom lower platform includes an upper table, an inertial navigation gyroscope, a first servo electric cylinder, a lower platform electrical box, and a lower table; wherein the main body of the first connecting rod is the first servo electric cylinder, one end of the first servo electric cylinder is connected to the lower table, and the other end is connected to the upper table; the inertial navigation gyroscope is fixed below the upper table.

[0040] Double six degrees of freedom upper platform, double six degrees of freedom upper platform consists of upper table, gyroscope, M80 inclined block, M80 horizontal Hook hinge, M80 servo electric cylinder, electrical box, lower table, etc.

[0041] like Figure 3As shown, the double six-degree-of-freedom upper platform includes an upper table, a gyroscope, a second servo electric cylinder, and an upper platform electrical box; wherein the second connecting rod main body is the second servo electric cylinder, one end of the second servo electric cylinder is connected to the upper table of the double six-degree-of-freedom lower platform, and the other end is connected to the upper table of the double six-degree-of-freedom upper platform.

[0042] Feature 1: All use direct-connect electric cylinders, making the entire platform respond faster and reducing transmission efficiency loss. It can better compensate for the impact of waves on the platform and make the platform more stable.

[0043] Feature 2: The electrical box is integrated inside the platform, making it more convenient to route the dynamic wiring.

[0044] Feature 3: The upper and lower tables are made of machined aluminum plates, which are more flat.

[0045] Feature 4: Adopts inertial navigation gyroscope to better reflect the real-time angle changes of the platform.

[0046] The three-degree-of-freedom simulated artillery aiming and firing structure consists of a hollow rotating platform, a servo motor, a planetary reducer, a slide module, a three-degree-of-freedom rotating base, a rotating axis, a pitch limit rod, a slide module fixing plate, a vertical plate, a rotation limit column, a artillery model, etc.

[0047] like Figure 4 As shown, the three-degree-of-freedom simulated artillery aiming and firing structure includes a hollow rotating platform, a servo motor, a planetary reducer, a slide module, a three-degree-of-freedom rotating base, a rotating axis, a slide module fixing plate, and a gun model;

[0048] A power assembly consisting of a servo motor and a planetary reducer is installed on the hollow rotating platform. The power assembly is connected to a three-degree-of-freedom rotating base. The rotating shaft on the three-degree-of-freedom rotating base is fixedly connected to the slide module. The artillery model is installed in the slide module.

[0049] Furthermore, fixed plates are provided on both sides of the slide module, and the fixed plates are used to provide installation positioning for the artillery model.

[0050] Furthermore, a rotation limit column and a pitch limit rod are provided next to the slide module, and the rotation limit column and the pitch limit rod are used to provide movement limit for the artillery model.

[0051] Furthermore, the hollow rotating platform is vertically mounted on the upper surface of the dual six-degree-of-freedom upper platform.

[0052] Feature 1: A hollow rotating platform is used to simulate the rotation of the artillery, and a mechanical structure is added for positioning.

[0053] Feature 2: Servo motor + planetary reducer is used to simulate the elevation angle of the artillery, and a mechanical structure is added for limiting.

[0054] Feature 3: A slide module is used to simulate the barrel extension and retraction at the moment of artillery firing.

[0055] Feature 4: Three degrees of freedom: rotation, pitch, and slide. It can more realistically simulate the actual aiming and operation of artillery.

[0056] Implementation:

[0057] The self-balancing naval artillery simulation firing training platform utilizes two stacked six-degree-of-freedom platforms (the upper and lower platforms rotate 180°) to create a dual six-degree-of-freedom self-balancing platform. Gyroscopes are also installed on the upper and lower platforms to compensate for the impact of waves. This provides greater stability for the upper platform and maintains a relatively balanced and stable state, allowing for easier aiming of the artillery without being affected by waves.

[0058] The lower six-degree-of-freedom platform can simulate the ups and downs of the ocean waves. The upper platform can also simulate the ups and downs of the ocean waves, so that the upper platform of the entire dual six-degree-of-freedom platform shakes more, which makes it more difficult to aim the artillery. However, this situation can increase the difficulty of training and improve skills.

[0059] The three-degree-of-freedom (3DOF) simulation of the artillery aiming and firing structure utilizes a hollow rotary platform vertically mounted on the upper surface of a dual six-degree-of-freedom upper platform. A three-degree-of-freedom rotating base is affixed to the hollow rotary platform. Two vertical plates are mounted on the rotating base, each inserted into a rotating shaft. The rotating shaft is then inserted into a planetary reducer. The slide module's fixed plate is affixed to the rotating shaft, and the fixed plate is mounted on the slide module. The artillery is mounted on the slide module, simulating the artillery's aiming and firing conditions as realistically as possible. The 3DOF platform features limits for both elevation and rotation, enabling a more realistic simulation of actual artillery use and achieving a higher degree of automation.

Claims

1. A self-balancing marine artillery simulation firing training platform, characterized in that: The training platform includes a double six-degree-of-freedom lower platform, which includes an upper and lower layer, the upper layer and the lower layer are connected by a plurality of first connecting rods, and a lower platform electrical box is provided between the lower layer and the upper layer; the lower platform electrical box is used to control the movement of the first connecting rods; A double six-degree-of-freedom upper platform, the double six-degree-of-freedom upper platform being connected to the upper layer of the double six-degree-of-freedom lower platform via a plurality of second connecting rods, the double six-degree-of-freedom upper platform and the upper layer being connected via a plurality of second connecting rods, an upper platform electrical box being provided between the double six-degree-of-freedom upper platform and the upper layer; the upper platform electrical box being used to control the movement of the second connecting rods; The double six-degree-of-freedom lower platform simulates the ups and downs of sea waves through the first connecting rod, and the double six-degree-of-freedom upper platform balances the influence of the ups and downs of sea waves on the upper surface platform through the second connecting rod; A three-degree-of-freedom simulated artillery firing structure is also provided on the upper surface of the dual six-degree-of-freedom upper platform.

2. A self-balancing marine artillery simulation firing training platform according to claim 1, characterized in that: The dual six-degree-of-freedom lower platform includes an upper table, an inertial gyroscope, a first servo electric cylinder, a lower platform electrical box, and a lower table; wherein, The main body of the first connecting rod is a first servo electric cylinder, one end of the first servo electric cylinder is connected to the lower table, and the other end is connected to the upper table; The inertial navigation gyroscope is fixed below the upper table.

3. The self-balancing marine artillery simulation firing training platform according to claim 1, characterized in that: The dual six-degree-of-freedom upper platform includes an upper table, a gyroscope, a second servo electric cylinder, and an upper platform electrical box; wherein, The main body of the second connecting rod is a second servo electric cylinder. One end of the second servo electric cylinder is connected to the upper surface of the double six-degree-of-freedom lower platform, and the other end is connected to the upper surface of the double six-degree-of-freedom upper platform.

4. The self-balancing marine artillery simulation firing training platform according to claim 1, characterized in that: The three-degree-of-freedom simulated artillery aiming and firing structure comprises a hollow rotating platform, a servo motor, a planetary reducer, a slide module, a three-degree-of-freedom rotating base, a rotating axis, a slide module fixing plate, and a gun model; A power assembly consisting of a servo motor and a planetary reducer is installed on the hollow rotating platform. The power assembly is connected to a three-degree-of-freedom rotating base. The rotating shaft on the three-degree-of-freedom rotating base is fixedly connected to the slide module. The artillery model is installed in the slide module.

5. A self-balancing marine artillery simulation firing training platform according to claim 4, characterized in that: Fixed plates are provided on both sides of the slide module, and the fixed plates are used to provide installation positioning for the artillery model.

6. The self-balancing marine artillery simulation firing training platform according to claim 4, characterized in that: A rotation limit column and a pitch limit rod are also provided next to the slide module, and the rotation limit column and the pitch limit rod are used to provide movement limit for the artillery model.

7. A self-balancing marine artillery simulation firing training platform according to any one of claims 4 to 6, characterized in that: The hollow rotating platform is vertically mounted on the upper surface of the dual six-degree-of-freedom upper platform.

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