Multi-purpose unmanned vehicle with precise projection function

Abstract

The utility model discloses a multi -purpose unmanned vehicle with accurate projection function belongs to unmanned vehicle technical field, it includes unmanned vehicle body, is provided with the projection frame on the car body top, is provided with the projection cylinder on the projection frame, is provided with the push -out device behind the projection cylinder, still include the swivel base, the swivel base is provided with two groups of pitch axis seat of rotation, is provided with the pitch axis on two pitch axis seat, the projection frame is through the pitch axis and pitch axis seat rotation cooperation, still include the elastic support subassembly, the elastic support subassembly includes the guide rod and guide seat of sliding joint cooperation, is provided with the support spring still in the guide rod inner chamber, is provided with the pitch motor for driving the projection frame along the pitch axis rotation and the angle sensor for testing the projection frame angle on two groups of pitch axis seat respectively. The utility model discloses through the elastic support subassembly, can compensate the gravity difference of projection frame in the both ends of pitch axis, thereby reduces the load of pitch motor, has improved the projection precision.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned vehicle technology, specifically relating to a multi-purpose unmanned vehicle with a precise projectile function. Background Technology

[0002] As the complexity of disaster relief, engineering surveys, and tactical reconnaissance missions continues to rise, the use of intelligent unmanned vehicles (UAVs) is becoming increasingly widespread. In fields such as forest fire fighting, intelligent UAVs typically consist of a mobile vehicle body, a connecting work platform mounted on the vehicle body, and work modules mounted on the platform. Commonly used work modules in disaster relief include fire extinguishing bombs and launching devices.

[0003] In existing intelligent unmanned vehicle fire extinguishing modules, the operating platform is usually used to adjust the angle, and after the direction is adjusted, the fire extinguishing projectile is launched through the projectile tube. However, the existing structure has the following problems: the projectile tube is adjusted by simply using the pitch motor, which may cause the motor to be overloaded and affect the accuracy of the adjustment; after the projectile is launched, the reaction force generated will also act directly on the motor. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a multi-purpose unmanned vehicle with precise projectile function to solve the problems in the prior art.

[0005] This utility model is achieved through the following technical solution: a multi-purpose unmanned vehicle with precise projectile function, comprising an unmanned vehicle body, characterized in that: a projectile frame is provided above the vehicle body, a projectile tube is provided on the projectile frame, and a projectile pushing device is provided behind the projectile tube; it also includes a rotating base, on which two sets of pitch axis seats are rotatably provided, and pitch axes are provided on the two pitch axis seats; the projectile frame is rotatably engaged with the pitch axis seats through the pitch axis; it also includes an elastic support assembly, which includes a guide rod and a guide seat that are slidably engaged, and a support spring is provided in the inner cavity of the guide rod; the guide rod and the guide seat are respectively hinged to the front of the projectile frame and the pitch axis seats; a pitch motor for driving the projectile frame to rotate along the pitch axis and an angle sensor for testing the angle of the projectile frame are respectively provided on the two sets of pitch axis seats.

[0006] Furthermore: two sets of pitch axis seats are fixed on the slewing frame, and the slewing frame and the slewing base are connected by a rotary motor.

[0007] Furthermore: the projectile tube is fixed to the projectile frame by a bracket, and an open magazine is provided behind the projectile tube, with an opening behind the magazine that cooperates with the working part of the projectile pushing device.

[0008] Furthermore, it also includes a feeding device for supplying ammunition to the magazine.

[0009] Furthermore: the pusher device includes a housing and a sleeve fixed to the housing, a pusher rod is slidably arranged inside the sleeve, a pusher spring is arranged between the rear of the pusher rod and the bottom of the sleeve, a pusher rack is arranged on the pusher rod, and a slot is arranged on the sleeve to cooperate with the pusher rack; it also includes a pusher motor, the pusher motor is fixed inside the housing, and a half gear is arranged on the output shaft of the pusher motor to cooperate with the pusher rack.

[0010] The beneficial effects of this invention are as follows: The elastic support assembly compensates for the weight difference between the two ends of the launcher on the pitch axis, thereby reducing the load on the pitch motor and improving angular accuracy. The projectile-pushing assembly utilizes a servo motor and spring-loaded energy storage method for launch, which is convenient to control and allows for a high launch frequency. When the projectile supply meets requirements, it can reach 30 launches per second, with a launch distance of up to 10 meters. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the launcher structure; Figure 3 This is a schematic diagram of the projectile launcher after it has been loaded. Figure 4 This is a schematic diagram of the propellant device; Figure 5 This is a front view of the projectile-pushing device.

[0012] The numbers in the diagram are explained as follows: 100 is the vehicle body, 1 is the launcher, 2 is the launch tube, 3 is the projectile pushing device, 4 is the slewing base, 5 is the pitch axis seat, 6 is the pitch axis, 7 is the elastic support assembly, 71 is the guide rod, 72 is the guide seat, 73 is the support spring, 8 is the pitch motor, 9 is the angle sensor, 10 is the rotary motor, 11 is the projectile feeding device, 12 is the camera; 31 is the housing, 32 is the sleeve, 33 is the projectile pushing rod, 34 is the projectile pushing spring, 35 is the projectile pushing rack, 36 is the projectile pushing motor, and 37 is the half gear. Detailed Implementation

[0013] Reference Appendix Figure 1-5This utility model provides a multi-purpose unmanned vehicle with precise projectile launching function, including an unmanned vehicle body 100, a projectile launcher 1 mounted on the body 100, a projectile launcher 2 mounted on the projectile launcher 1, and a projectile pushing device 3 mounted behind the projectile launcher 2, the projectile pushing device 3 being fixed to the projectile launcher 1 by bolts; it also includes a rotating base 4 fixed to the body 100, two sets of pitch axis seats 5 rotatably mounted on the rotating base 4, and pitch axes 6 rotatably mounted on the two pitch axis seats 5; the projectile launcher 1 achieves pitch angle adjustment through the rotational cooperation of the pitch axis 6 and the pitch axis seats 5; it also includes an elastic support assembly 7, the elastic support... The support assembly 7 includes a guide rod 71 and a guide seat 72 that slide together. A support spring 73 is also provided in the inner cavity of the guide rod 71. The two ends of the support spring 73 are fixedly connected to the guide rod 71 and the guide seat 72, respectively. The guide rod 71 and the guide seat 72 are respectively hinged to the front of the projectile frame 1 and two sets of pitch axis seats 5 through a hinge frame. Pitch motors 8 for driving the projectile frame 1 to rotate along the pitch axis 6 and angle sensors 9 for testing the angle of the projectile frame 1 are respectively provided on the two sets of pitch axis seats 5. The main bodies of the pitch motors 8 and the angle sensors 9 are bolted to the pitch axis seats 5, and their free ends are coaxially engaged with the pitch axis 6 through a coupling.

[0014] Preferably, two sets of pitch axis seats 5 are fixed on a turntable-shaped rotary frame, and the rotary frame and the rotary base 4 are rotatably coupled and driven to rotate by a rotary motor 10. The main body of the rotary motor 10 is fixed on the rotary base 4, and the output shaft is connected to the rotary frame by a coupling.

[0015] Preferably, the projectile tube 2 is fixed to the projectile frame 1 by a bracket, and a magazine with an opening (for firing) is provided at the rear of the projectile tube 2. An opening that cooperates with the working part of the projectile pushing device 3 is provided at the rear of the magazine. A feed port for loading ammunition is also provided above the projectile tube 2.

[0016] Preferably, it also includes a feeding device 11 for feeding ammunition into the magazine. This feeding device is an existing structure and can be fixed on the launcher. For example, a magazine-type feeder can be used, or a feeding box and a robotic arm can be used in conjunction for feeding ammunition. The specific structure and connection relationship will not be described in detail.

[0017] Preferably, the pusher device 3 includes a housing 31 and a sleeve 32 fixed to the housing. A pusher rod 33 is slidably disposed inside the sleeve. A pusher spring 34 is disposed between the rear of the pusher rod and the bottom of the sleeve. A pusher rack 35 is disposed on the pusher rod. A slot is disposed on the sleeve to cooperate with the pusher rack. The device also includes a pusher motor 36, which is fixed inside the housing. A half gear 37 that cooperates with the pusher rack is disposed on the output shaft of the pusher motor. The half gear is an incomplete gear, with the toothed part being fan-shaped and intermittently meshing with the rack.

[0018] Preferably, a battery is installed on the unmanned vehicle body 100.

[0019] Preferably, the pitch motor and rotary motor are articulated motors or servo motors, and the push motor is a servo motor.

[0020] The working process of this utility model structure is as follows.

[0021] When unmanned vehicle operation is required, the vehicle is controlled to drive to the controlled area. The camera can determine the driving position and the surrounding environment. Once the designated working position is reached, the vehicle stops moving forward. The rotary motor and pitch motor operate to adjust the angle and direction of the launching frame. After the adjustment is in place, the pusher motor operates, and the pusher rack and pinion wheel engages with the rack to move the pusher rod backward and compress the spring. As the half gear disengages from the rack, the pusher rod moves forward under the action of the spring, colliding with the working projectile in the launching tube and knocking it out along the launching tube and projecting it into the working area.

[0022] Depending on the nature of the operation, if only one mission missile is launched, the mission is complete, and the missile pusher motor is shut down. The completion effect can be observed via camera, and the operator can withdraw after the operation is finished. If continuous firing is required and a missile feeding device is provided, the missile pusher motor is restarted. The pusher motor drives the half-gear to continue rotating and meshing with the rack again, thus initiating the second and subsequent firing missions.

[0023] By adjusting the rotation speed of the pusher motor to match the time it takes to complete one cycle with the loading time, continuous firing can be achieved. Provided that the loading speed meets the requirements, the firing speed of the pusher device in this scheme can reach 30 times per minute, and the maximum firing distance can reach 10 meters. It can fire various kinetic energy firing projectiles (non-ammunition-driven) such as fire extinguishing projectiles and marking projectiles, which can effectively meet the needs of continuous and rapid operation tasks.

Claims

1. A multi-purpose unmanned vehicle with precise projectile function, comprising an unmanned vehicle body, characterized in that: A launching frame is installed on the top of the vehicle body, a launching tube is installed on the launching frame, and a projectile pushing device is installed behind the launching tube. It also includes a rotating base, on which two sets of pitch axis seats are rotatably mounted, and pitch axes are mounted on the two pitch axis seats; the projectile frame is rotatably engaged with the pitch axis seats through the pitch axis. It also includes an elastic support assembly, which includes a guide rod and a guide seat that slide together, and a support spring is provided in the inner cavity of the guide rod. The guide rod and the guide seat are respectively hinged to the front of the launcher and the pitch axis seat. Two sets of pitch axis mounts are respectively equipped with pitch motors for driving the launcher to rotate along the pitch axis and angle sensors for testing the angle of the launcher.

2. The multi-purpose unmanned vehicle with precision projectile function according to claim 1, characterized in that: Two sets of pitch axis seats are fixed on the slewing frame, and the slewing frame and the slewing base are connected by a rotary motor.

3. A multi-purpose unmanned vehicle with precision projectile function according to claim 1, characterized in that: The projectile tube is fixed to the projectile frame by a bracket. An open magazine is provided behind the projectile tube, and an opening that cooperates with the working part of the projectile pushing device is provided behind the magazine.

4. A multi-purpose unmanned vehicle with precision projectile function according to claim 3, characterized in that: It also includes a feeding device for supplying ammunition to the magazine.

5. A multi-purpose unmanned vehicle with precision projectile function according to claim 1, characterized in that: The pusher device includes a housing and a sleeve fixed to the housing. A pusher rod is slidably arranged inside the sleeve. A pusher spring is arranged between the rear of the pusher rod and the bottom of the sleeve. A pusher rack is arranged on the pusher rod. A slot is arranged on the sleeve to cooperate with the pusher rack. The device also includes a pusher motor, which is fixed inside the housing. A half gear that cooperates with the pusher rack is arranged on the output shaft of the pusher motor.

Images