CN110062211B

CN110062211B - Dynamic stable all-round torpedo suitable for roadway fighting and installation and use method thereof

Info

Publication number: CN110062211B
Application number: CN201910418564.XA
Authority: CN
Inventors: 栾松巍
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2020-12-08
Anticipated expiration: 2039-05-20
Also published as: CN110062211A

Abstract

A dynamic stable all-round torpedo suitable for the street battle and its installation and application method, torpedo is made up of shooting equipment, gyroscope, back shaft, gyroscope sealed shell, antifriction bearing and external motor, etc., the gyroscope is driven by the motor that can drop off to rotate at a high speed, the back shaft supports the whole apparatus, and establish the point contact with bearing surface; a rolling bearing is used between the shooting equipment and the gyroscope for despinning, so that the high-speed rotation of the shooting equipment is avoided, and the shooting equipment is kept stable in a dynamic state; when the system is used, the ring vision grenade is thrown into a reconnaissance area in a manual throwing mode, and the mobile control end is started to collect information in real time. The invention has small structure and convenient carrying and operation, realizes the acquisition of the visual information in the closed space by adopting the gyroscope effect for the first time, realizes that the camera can stand on planes with various complex angles by utilizing the axis fixation of the gyroscope, and can realize the rotation of the camera around the self axis by utilizing the characteristics of the acting force and the reaction force of the gyroscope, thereby realizing the 360-degree shooting of the shooting camera.

Description

Dynamic stable all-round torpedo suitable for roadway fighting and installation and use method thereof

Technical Field

The invention relates to the technical field of investigation equipment, in particular to a dynamic stable all-round tornado suitable for roadway fighting and an installation and use method thereof.

Background

At present, military reconnaissance is taken as a means for acquiring combat information, has important significance, provides scientific basis for military decision, provides practical guarantee for war victory, and particularly needs reconnaissance equipment to assist fighters to master enemy dynamic information in real time due to small combat range and strong maneuverability when anti-terrorist blasting or small-scale roadway warfare so as to make a reasonable combat scheme, complete tasks at maximum efficiency and avoid unnecessary casualties caused by accidents.

In the past, technical means adopted by military reconnaissance comprise radio reconnaissance, radar reconnaissance, radio direction finding and the like, and with the development of scientific technology, intelligent equipment such as unmanned aerial vehicles and mobile robots become military reconnaissance technical means adopted by various countries. In the foreign country, the field reconnaissance is usually carried out by adopting unmanned aerial vehicle technology, and the reconnaissance enemy and quick strike functions are usually integrated, such as United states 'hunters', 'fire reconnaissance soldiers' and 'predators' series unmanned aerial vehicles. In addition, equipment such as radar reconnaissance vehicles, mobile robots and flying balls is also widely applied to combat reconnaissance.

However, although the above-mentioned equipment can be better accomplish military tasks such as reconnaissance, attack and supervision to the ground, equipment cost is extremely high, and to the soldier who has not received professional training, these smart machines operate the degree of difficulty greatly, waste time and energy, can not skillfully apply, and battlefield environment is very changeable promptly, and the fighter can disperse the fight energy while operating unmanned aerial vehicle, reduces the efficiency of operation. In addition, although the radar reconnaissance vehicle can carry various reconnaissance devices, the target is large and inconvenient to hide; the mobile robot is portable and flexible, can go deep into an enemy area for information detection, but has low structural strength of a body and is very easy to damage in a battlefield environment; the flying ball integrates the functions of air flight and land rolling, can freely pass through hostile areas, and is easily influenced by electromagnetic interference.

With the emphasis of our country on military reconnaissance technology, reconnaissance equipment has also been greatly developed. At present, reconnaissance unmanned aerial vehicles, crawler robots, bionic geckos and spherical robots are mainly used in China, but the researches are still in a laboratory stage and cannot be really put into battlefield operation.

In conclusion, the conventional investigation equipment generally has the problems of high operation difficulty, large volume, inconvenience in carrying and the like, and cannot enter a closed space for use, so that the conventional investigation equipment is not suitable for being used by fighters in battlefields with imminence and imminence of information, and particularly cannot be used in battlefields in anti-terrorism blasting, small-scale roadway battles and other battle environments. Therefore, it is very important to design a portable investigation tool suitable for general arms such as armed police, fire fighters and the like.

Disclosure of Invention

The invention aims to provide a dynamic stable all-round sight grenade suitable for roadway fighting and an installation and use method thereof, and solves the technical problems that the existing reconnaissance equipment is high in cost, high in operation difficulty and easy to influence the fighting efficiency, and the problems that the existing equipment cannot be well suitable for various complex terrains and the shooting angle is limited.

In order to achieve the technical purpose, the invention adopts the following technical scheme:

the utility model provides a dynamic stability look-around hand thunder suitable for street fighting which characterized in that: the device comprises a shooting device, a gyroscope, an external motor and a supporting shaft;

the gyroscope comprises an outer frame, a rotating shaft and an inertia wheel; the outer frame is fixedly connected with the gyroscope sealing shell, and an external motor insertion hole is reserved at the bottom end of the gyroscope sealing shell corresponding to the position of the rotating shaft; two end parts of the rotating shaft penetrate out of the outer frame;

the shooting equipment is arranged at the top of the gyroscope sealing shell through a roller bearing and is in signal connection with the mobile control end;

the external motor is selectively arranged on the outer side of the gyroscope sealing shell, and when the gyroscope needs to be started, a transmission shaft of the external motor is inserted into the gyroscope sealing shell from an insertion hole of the external motor and is in clutch connection with a rotating shaft of the gyroscope on the inner side through a clutch; after the gyroscope is started, the external motor is separated from the gyroscope sealing shell under the action of the clutch; the external motor is connected with a power supply;

the supporting shaft is arranged at the bottom of the gyroscope sealing shell;

the supporting shaft, the roller bearing and the rotating shaft are coaxially arranged.

As a preferred technical scheme of the invention, the gyroscope sealing shell is spherical as a whole, the spherical inner diameter is adapted to the maximum outer diameter of the gyroscope, the gyroscope sealing shell is formed by splicing and connecting an upper hemispherical shell and a lower hemispherical shell, a cylindrical bearing seat is formed by protruding the top of the upper hemispherical shell, a roller bearing is installed in the bearing seat, the bottom center position of the lower hemispherical shell is an installation plane area, a support piece fixing hole and an external motor plug hole are arranged in the installation plane area, the external motor plug hole is arranged at the center position of the installation plane area, and the support piece fixing hole is arranged by taking the external motor plug hole as a central symmetry.

Preferably, the connecting ends of the upper hemispherical shell and the lower hemispherical shell of the gyroscope sealing shell are respectively provided with outer edge wing rings, and the two outer edge wing rings are connected through connecting pieces arranged at uniform intervals after being spliced.

Preferably, the shooting equipment is fixedly arranged on the equipment mounting plate, equipment mounting holes are symmetrically formed in the plate body of the equipment mounting plate from left to right, and the shooting equipment is arranged in the equipment mounting holes through connecting pieces; the bottom central point of plate body puts the arch and forms joint, joint and gyro wheel bearing joint are connected.

Further preferably, the roller bearing comprises a bearing outer ring, a bearing inner ring, a ball and a fixing frame, the bearing outer ring is fixedly connected with the bearing seat, a clamping groove is formed in the center of the bearing inner ring, the clamping groove and a clamping head at the center of the bottom of the equipment mounting plate are mutually adaptive and clamped, and the equipment mounting plate is connected with the upper hemispherical shell.

Further preferably, the support shaft comprises a plug connector at the top and a support head arranged perpendicular to the plug board at the bottom; the plug-in connector consists of a plug board and plug pins, the plug pins are inserted into the fixing holes of the supporting piece, the outer frame is clamped and fixed between the two plug pins of the supporting shaft, and the plug board is attached to an installation plane area at the center of the bottom of the lower hemispherical shell; the supporting head is of a single shaft body structure, the bottom of the supporting head is of a round head structure, and when the gyroscope is in a working state, the bottom end of the supporting head is in single-point contact with the supporting surface.

Preferably, the top and the bottom of the gyroscope sealing case are respectively provided with an outer frame clamping plate in pairs for clamping the outer frame, the outer frame clamping plate in the lower hemispherical shell is provided with a hole corresponding to the fixing hole of the supporting piece, and the plug pins are inserted into the outer frame clamping plate for fixing.

Preferably, the gyroscope sealing shell, the equipment mounting plate and the support shaft are made of the same material and are made of hard aluminum alloy components.

Further preferably, the support device also comprises a damping component and a protective outer cover, wherein the damping component is arranged on the upper part of the support head of the support shaft; the protection housing wraps the whole dynamic stable all-round grenade, and reserved holes are formed in the protection housing only in the positions corresponding to the camera of the shooting device and the position of the gyroscope at the bottom of the supporting shaft at the landing position respectively.

In addition, the invention also provides an installation and use method of the dynamic stable all-round torpedo suitable for the roadway battle, which comprises the following steps:

step one, early preparation work: the method comprises the steps of component size determination, material preparation and component manufacturing;

step two, installing the gyroscope in the lower hemispherical shell: connecting and fixing the outer frame of the gyroscope and the lower hemispherical shell;

step three, assembling a gyroscope sealing shell: splicing and connecting an upper hemispherical shell and a lower hemispherical shell of the gyroscope sealing shell;

step four, mounting the roller bearing: installing the roller bearing in a bearing seat at the top of the upper hemispherical shell;

step five, clamping the equipment mounting plate on the roller bearing;

sixthly, mounting the shooting equipment on the equipment mounting plate;

step seven, external motor drive: inserting a transmission shaft of an external motor into the gyroscope sealing shell from an external motor inserting hole, connecting the transmission shaft with a rotating shaft of the inner gyroscope in a clutch mode through a clutch, and starting the external motor to enable the gyroscope to run at a high speed;

step eight, separating the external motor: after the gyroscope is started, starting the clutch to separate the external motor from the gyroscope sealing shell;

step nine, mounting a support shaft: inserting the support shaft into the bottom of the gyroscope sealing shell;

step ten, throwing the annular vision grenade into a reconnaissance area: throwing the annular view grenade into a reconnaissance area in a manual throwing mode;

step eleven, starting a mobile control terminal to collect information: and starting the mobile control terminal to acquire information in real time.

The panoramic grenade mainly utilizes the dead axle characteristic of a gyroscope to realize the standing and rotating visual scene acquisition function, and the gyroscope is arranged at the bottom of the shooting equipment and is connected with a high-rotating-speed motor.

The gyroscope has two characteristics, namely, the dead-axle property and the precession property. The dead-center property is the characteristic that when the gyro rotor rotates at high speed, the orientation of the rotation axis of the gyro in the inertia space is kept stable and unchanged when no external moment acts on the gyro; the precession is that when the gyro rotor rotates at high speed, if the applied external moment is along other axial direction except the rotation axis, the gyro does not move along the direction of the external moment, and the rotation angular speed direction is perpendicular to the action direction of the external moment. The two major characteristics of the gyroscope exactly solve the two major functions of the panoramic grenade of self-stabilization standing and the panoramic shooting, so the gyroscope is the core component of the panoramic grenade.

The invention can realize that the shooting equipment rotates around the axis of the shooting equipment by utilizing the acting force and the reacting force of the gyroscope, thereby realizing 360-degree panoramic shooting, being a high-efficiency and convenient reconnaissance tool, and compared with the prior art, the invention has the technical advantages that:

1. convenient to carry, security height are high: the panoramic grenade has compact structure, small size, convenient carrying and low manufacturing cost; the gyroscope is sealed by the gyroscope sealing shell, so that the inertia wheel is prevented from being interfered when rotating at a high speed, the damage to people is avoided, and the safety is high;

2. the use is convenient: when the all-round torpedo is used, the fighter only needs to throw the all-round torpedo into the target area, and the mobile control end is controlled to control the shooting equipment so as to obtain the dynamic view of the reconnaissance area in real time; the shooting angle can be adjusted to assist the fighter in completing tasks such as reconnaissance and monitoring of an unknown area, and the fighting efficiency is improved;

3. the method is suitable for various complex terrains: when the device works, the motor drives the gyroscope to rotate at a high speed to form a gyroscope effect, stable standing of the shooting device is realized through the axis fixation of the gyroscope, the shooting device can stand on planes with various complex angles, namely any plane can be used as a support, the surrounding environment view is collected through self rotation, and the device can adapt to the surrounding torpedo no matter how the terrain is, and is suitable for the fields of military reconnaissance, small-scale lane fighting and the like;

4. dynamic stability: and a rolling bearing is used between the shooting equipment and the gyroscope for despinning, so that the high-speed rotation of the camera is avoided. The camera is kept stable in dynamic.

Drawings

The above and/or other aspects and advantages of the present invention will become more apparent and more readily appreciated from the detailed description taken in conjunction with the following drawings, which are meant to be illustrative, not limiting of the invention, and in which:

FIG. 1 is a schematic view of the overall structure of a panoramic grenade according to the present invention;

FIG. 2 is a schematic diagram of the internal structure of a sealed case of a gyroscope according to the present invention;

FIG. 3 is a schematic view of the internal structure of the round-looking grenade according to the present invention;

FIG. 4 is a schematic view of the installation of an external motor in the starting state of the torpedo according to the present invention;

FIG. 5 is a schematic top view of an upper hemispherical shell according to the present invention;

FIG. 6 is a schematic view of the bottom structure of the upper hemispherical shell according to the present invention;

FIG. 7 is a schematic top view of a lower hemispherical shell according to the present invention;

FIG. 8 is a bottom view of the lower hemispherical shell according to the present invention;

FIG. 9 is a schematic view of a support shaft according to the present invention;

FIG. 10 is a schematic view of the structure of the equipment mounting plate according to the present invention;

FIG. 11 is an analysis model of the gyroscope outer frame with constraints and loads added thereto, according to the present invention;

FIG. 12 is a displacement cloud of the outer frame of a gyroscope according to the present invention;

FIG. 13 is a stress cloud of the outer frame of a gyroscope according to the present invention;

fig. 14 is a strain cloud of the outer frame of the gyroscope according to the present invention.

Reference numerals: 1-shooting equipment, 2-equipment mounting plate, 2.1-plate body, 2.2-equipment mounting hole, 2.3-mounting fastener, 3-gyroscope sealing shell, 3.1-upper hemispherical shell, 3.2-lower hemispherical shell, 3.3-bearing seat, 3.4-supporting piece fixing hole, 3.5-external motor plug hole, 3.6-outer edge wing ring, 3.7-outer frame fastening plate, 4-roller bearing and 4.1-bearing outer ring, 4.2-bearing inner ring, 4.3-clamping groove, 5-gyroscope, 5.1-outer frame, 5.2-rotating shaft, 5.3-inertia wheel, 6-external motor, 7-power supply, 8-supporting shaft, 8.1-plug connector, 8.11-plug board, 8.12-plug pin, 8.2-supporting head and 9-mobile control end.

Detailed Description

Hereinafter, embodiments of the dynamically stabilized all-round mine for roadway fighting and the installation and use method thereof according to the present invention will be described with reference to the accompanying drawings.

The examples described herein are specific embodiments of the present invention, are intended to be illustrative and exemplary in nature, and are not to be construed as limiting the scope of the invention. In addition to the embodiments described herein, those skilled in the art will be able to employ other technical solutions which are obvious based on the disclosure of the claims and the specification of the present application, and these technical solutions include technical solutions which make any obvious replacement or modification for the embodiments described herein. The drawings in the present specification are schematic views to assist in explaining the concept of the present invention, and schematically show the shapes of respective portions and their mutual relationships. It is noted that the drawings are not necessarily to the same scale so as to clearly illustrate the structures of the various elements of the embodiments of the invention. Like reference numerals are used to denote like parts.

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention. As shown in fig. 1-3, a dynamic stable all-round torpedo suitable for roadway battle comprises a shooting device 1, a gyroscope 5, an external motor and a supporting shaft 8; the gyroscope 5 comprises an outer frame 5.1, a rotating shaft 5.2 and an inertia wheel 5.3; the outer frame 5.1 is fixedly connected with the gyroscope sealing shell 3, and an external motor plug hole 3.5 is reserved at the bottom end of the gyroscope sealing shell 3 corresponding to the position of the rotating shaft 5.2; two end parts of the rotating shaft 5.2 penetrate out of the outer frame 5.1; the shooting device 1 is arranged at the top of the gyroscope sealing shell 3 through a roller bearing 4 and is in signal connection with a mobile control end 9; as shown in fig. 4, the external motor 6 is selectively arranged outside the gyroscope sealing shell 3, when the gyroscope needs to be started, a transmission shaft of the external motor is inserted into the gyroscope sealing shell 3 from an insertion hole 3.5 of the external motor, and is in clutch connection with a rotating shaft 5.2 of the internal gyroscope 5 through a clutch; after the gyroscope is started, the external motor 6 is separated from the gyroscope sealing shell 3 under the action of the clutch; the external motor 6 is connected with a power supply 7; the supporting shaft 8 is arranged at the bottom of the gyroscope sealing shell 3; the supporting shaft 8, the roller bearing 4 and the rotating shaft 5.2 are coaxially arranged.

In this embodiment, the mobile control terminal 9 is a mobile phone, the shooting device 1 adopts a digital camera, and downloads APP of the corresponding digital camera from the mobile phone, so as to implement real-time control. After the body is assembled, the camera is opened, and communication is established with the mobile phone through wifi. After the preparation is finished, the external motor 6 is controlled to drive the gyroscope 5 to rotate. At the moment, the camera is driven to stably rotate by looking around the 'grenade', and image signals collected by the camera can be received in real time through the mobile phone end.

As shown in fig. 2, the gyroscope 5 includes an outer frame 5.1, a rotating shaft 5.2 and an inertia wheel 5.3, the rotating shaft 5.2 is electrically connected or signal-connected with an external motor 6, and the outer frame 5.1 and the bottom of the lower hemispherical shell 3.2 are fixed by a connecting piece passing through an external motor insertion hole 3.5. When the gyroscope is selected, the gyroscope 5 with small volume and light weight is selected as much as possible under the condition of meeting the inertia moment, so that the whole structure is small and exquisite, and the hiding is convenient. Meanwhile, the size of the gyroscope 5 is designed by referring to the size of the grenade so as to simulate the appearance of the grenade to the maximum extent. The connecting ends of the upper hemispherical shell 3.1 and the lower hemispherical shell 3.2 of the gyroscope sealing shell 3 are respectively provided with an outer edge wing ring 3.6, and the two outer edge wing rings 3.6 are connected through connecting pieces which are uniformly arranged at intervals after being spliced; the gyroscope sealing shell 3, the equipment mounting plate 2 and the supporting shaft 8 are made of the same material and are made of hard aluminum alloy components.

As shown in fig. 3, the roller bearing 4 is a standard component, and a rolling bearing of SKF 608 model imported from germany is selected, and includes a bearing outer ring 4.1, a bearing inner ring 4.2, balls and a fixing frame, the bearing outer ring 4.1 is connected and fixed with a bearing seat 3.3, a clamping groove 4.3 is arranged in the center of the bearing inner ring 4.2, the clamping groove 4.3 and a clamping joint 2.3 in the center of the bottom of the equipment mounting plate 2 are adapted and clamped with each other, so that the equipment mounting plate 2 is connected with the upper hemispherical shell 3.1.

The gyroscope sealing shell 3 is spherical as a whole and is formed by splicing and connecting an upper hemispherical shell 3.1 and a lower hemispherical shell 3.2; as shown in fig. 5 and 6, a bearing seat 3.3 is formed by the top of the upper hemispherical shell 3.1 protruding, a roller bearing 4 is installed in the bearing seat 3.3, as shown in fig. 7 and 8, the bottom center position of the lower hemispherical shell 3.2 is an installation plane area, and a support piece fixing hole 3.4 and an external motor plug hole 3.5 are arranged in the installation plane area. The external motor plug hole 3.5 is arranged at the center of the installation plane area, and the support piece fixing hole 3.4 is arranged by taking the external motor plug hole 3.5 as a central symmetry. The top and the bottom of the gyroscope sealing shell 3 are respectively provided with an outer frame clamping plate 3.7 in pairs to clamp and fix an outer frame 5.1, wherein, the position of the outer frame clamping plate 3.7 in the lower hemispherical shell 3.2, which corresponds to the support piece fixing hole 3.4, is provided with a hole, and the pin 8.12 of the plug-in connector 8.1 is inserted into the outer frame clamping plate 3.7 for fixing.

The shooting equipment 1 is fixedly arranged on the equipment mounting plate 2, as shown in fig. 9, equipment mounting holes 2.2 are symmetrically formed in the plate body 2.1 of the equipment mounting plate 2 from left to right, and the shooting equipment 1 is arranged in the equipment mounting holes 2.2 through connecting pieces; the central position of the bottom of the plate body 2.1 is raised to form a clamping joint 2.3, and the clamping joint 2.3 is connected with the roller bearing 4 in a clamping manner.

As shown in fig. 10, the supporting shaft 8 includes a plug 8.1 at the top and a supporting head 8.2 at the bottom and perpendicular to the plug 8.1, which are integrally formed; the plug-in connector 8.1 consists of an inserting plate 8.11 and a plug pin 8.12, the plug pin 8.12 is inserted into the fixing hole 3.4 of the supporting piece, and the inserting plate 8.11 is attached to the mounting plane area at the center of the bottom of the lower hemispherical shell 3.2 at the moment, so that the support shaft 8 is fixed with the lower hemispherical shell 3.2; the supporting head 8.2 is of a single shaft body structure, and the bottom of the supporting head is of a round head structure.

As the preferable technical scheme of the invention, the gyroscope further comprises a damping component, so that the condition that the gyroscope bears a large impact load in the process of throwing to the ground in actual application can be effectively avoided. The damping assembly may take various forms such as a damping spring set or a damping rubber pad provided at an upper or middle position of the support head 8.2 of the support shaft 8. The technique for mounting the shock absorbing assembly on the cylindrical member is well established and will not be described in detail herein.

Furthermore, the gyroscope protection device further comprises a protection outer cover, wherein the protection outer cover can be irregular, the distance between the protection outer cover and the inner side component is 1-5mm, meanwhile, a rotating space of the shooting device is reserved, and the protection outer cover and the gyroscope sealing shell 3 are fixed through a plurality of fixing points. The protection dustcoat wraps up the whole dynamic stable all-round torpedo, and only the camera position corresponding to the shooting equipment 1 and the gyroscope landing position at the bottom of the supporting shaft 8 are respectively provided with a preformed hole.

The invention also provides an installation method of the dynamic stable all-round torpedo suitable for the roadway battle, which is characterized by comprising the following steps:

step one, early preparation work: the method comprises the steps of component size determination, material preparation and component manufacturing; when selecting the outer frame of the gyroscope, designing an outer frame 5.1 structure of the gyroscope by utilizing Solidworks according to the actual size of the grenade, wherein the diameter size of the outer frame is 62.8mm, and simultaneously checking the strength of the outer frame of the gyroscope, the method comprises the steps of firstly exporting a universal format (. igs) file of the outer frame, then importing a model into finite element analysis software ANSYS, setting the material attribute of the model as duralumin alloy and setting the density as 2.7 multiplied by 10³kg/m³Then, the model is gridded and applied with constraints and loads, and as shown in fig. 11, the outline analysis model with constraints and loads added is shown. Through the solution of the ANSYS post-processing module, a displacement cloud chart, a stress cloud chart and a strain cloud chart of the frame are obtained, and are respectively shown in FIGS. 12, 13 and 14.

Step two, installing the gyroscope 5 in the lower hemispherical shell 3.2: an outer frame 5.1 of the gyroscope 5 and the bottom of a lower hemispherical shell 3.2 are fixedly connected through a connecting piece penetrating through an external motor inserting hole 3.5;

step three, assembling a gyroscope sealing shell 3: splicing and connecting an upper hemispherical shell 3.1 and a lower hemispherical shell 3.2 of a gyroscope sealing shell 3;

step four, installing the roller bearing 4: installing a roller bearing 4 in a bearing seat 3.3 at the top of an upper hemispherical shell 3.1, wherein the diameter of the bearing seat 3.3 is 22 mm;

step five, clamping the equipment mounting plate 2 on a roller bearing 4, wherein the diameter of the inner ring of the bearing is 8 mm;

sixthly, mounting the shooting equipment 1 on the equipment mounting plate 2, and thus finishing the mounting of the dynamically stable all-round torpedo;

step seven, driving by an external motor 6: a transmission shaft of an external motor 6 is inserted into the gyroscope sealing shell 3 from the inside of an external motor inserting hole 3.5 and is in clutch connection with a rotating shaft 5.2 of the inner gyroscope 5 through a clutch, and the external motor 6 is started to enable the gyroscope 5 to run at a high speed;

step eight, the external motor 6 is separated: after the gyroscope is started, starting the clutch to separate the external motor 6 from the gyroscope sealing shell 3;

step nine, mounting a support shaft 8: inserting the support shaft 8 into the bottom of the gyroscope sealing case 3

step eleven, starting the mobile control terminal 9 to collect information: and starting the mobile control terminal 9 to acquire information in real time.

After the installation is finished, the ring-view grenade is subjected to power-on test, the reliability of the installed ring-view grenade equipment is checked at first, and the gyroscope and the motor on the ring-view grenade equipment can be guaranteed to run smoothly. In this experimental protocol, the camera was not added for the time being, i.e. no-load operation. During the experiment, firstly, the external motor 6 is separated from the gyroscope 5, the external motor 6 is controlled to rotate positively and negatively, and whether the external motor 6 can work normally is tested. Then, the external motor 6 and the gyroscope 5 are assembled, the external motor 6 is powered on, and the running state of the gyroscope is observed. And if the motor normally works, the electrification test is passed, if the motor does not pass, the gravity center of the grenade is adjusted, and the component preparation parameters are modified until the component preparation parameters pass. If the center of the gyroscope rotor is not at the axis position due to machining errors, the working efficiency of the gyroscope is influenced, the gyroscope rotor is placed on a dynamic balance tester for testing and correcting, and the mass center of the gyroscope rotor is on the central axis by removing materials on one side of the rotor, so that the dynamic balance performance of the gyroscope is optimized.

After the tests are passed, the actual application capability of the all-round torpedo can be tested. The panoramic grenade is placed to work environments such as a horizontal desktop, a ceramic tile ground, the ground with stone particles, a grassland and the like respectively to be operated, the panoramic grenade is rotated and stood by utilizing the characteristics of a gyro, and the panoramic grenade is carried with a camera to rotate by 360 degrees by utilizing the characteristics of acting force and reacting force.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides a dynamic stability look-around hand thunder suitable for street fighting which characterized in that: the device comprises a shooting device (1), a gyroscope (5), an external motor and a supporting shaft (8);

the gyroscope (5) comprises an outer frame (5.1), a rotating shaft (5.2) and an inertia wheel (5.3); the outer frame (5.1) is fixedly connected with the gyroscope sealing shell (3), and an external motor plug hole (3.5) is reserved at the bottom end of the gyroscope sealing shell (3) corresponding to the position of the rotating shaft (5.2); two end parts of the rotating shaft (5.2) penetrate out of the outer frame (5.1);

the shooting equipment (1) is arranged at the top of the gyroscope sealing shell (3) through a roller bearing (4) and is in signal connection with a mobile control end (9);

the external motor (6) is arranged on the outer side of the gyroscope sealing shell (3), when the gyroscope needs to be started, a transmission shaft of the external motor is inserted into the gyroscope sealing shell (3) from an external motor insertion hole (3.5) and is in clutch connection with a rotating shaft (5.2) of the inner gyroscope (5) through a clutch; after the gyroscope is started, the external motor (6) is separated from the gyroscope sealing shell (3) under the action of the clutch; the external motor (6) is connected with a power supply (7);

the supporting shaft (8) is arranged at the bottom of the gyroscope sealing shell (3);

the supporting shaft (8), the roller bearing (4) and the rotating shaft (5.2) are coaxially arranged.

2. The dynamically stable full-view torpedo suitable for roadway warfare according to claim 1, wherein: the gyroscope sealing shell (3) is spherical as a whole, the spherical inner diameter is matched with the maximum outer diameter of a gyroscope (5), the gyroscope sealing shell is formed by splicing and connecting an upper hemispherical shell (3.1) and a lower hemispherical shell (3.2), a cylindrical bearing seat (3.3) is formed by protruding the top of the upper hemispherical shell (3.1), a roller bearing (4) is installed in the bearing seat (3.3), the bottom center position of the lower hemispherical shell (3.2) is a mounting plane area, a support piece fixing hole (3.4) and an external motor inserting hole (3.5) are arranged in the mounting plane area, the external motor inserting hole (3.5) is arranged in the center position of the mounting plane area, and the external motor inserting hole (3.5) is arranged in a central symmetry mode outside the support piece fixing hole (3.4).

3. The dynamically stable full-view torpedo suitable for roadway warfare according to claim 1, wherein: the gyroscope sealing shell is characterized in that the connecting ends of the upper hemispherical shell (3.1) and the lower hemispherical shell (3.2) of the gyroscope sealing shell (3) are respectively provided with outer edge wing rings (3.6), and the two outer edge wing rings (3.6) are connected through connecting pieces which are uniformly arranged at intervals after being spliced.

4. The dynamically stable full-view torpedo suitable for roadway warfare according to claim 1, wherein: the shooting equipment (1) is fixedly arranged on the equipment mounting plate (2), equipment mounting holes (2.2) are symmetrically formed in the plate body (2.1) of the equipment mounting plate (2) from left to right, and the shooting equipment (1) is arranged in the equipment mounting holes (2.2) through connecting pieces; the bottom center position of plate body (2.1) is protruding to form joint (2.3), joint (2.3) are connected with gyro wheel bearing (4) joint.

5. The dynamically stable full-view torpedo suitable for roadway warfare according to claim 2, wherein: roller bearing (4) are including bearing inner race (4.1), bearing inner race (4.2), ball and mount, bearing inner race (4.1) are connected fixedly with bearing frame (3.3), the center of bearing inner race (4.2) is equipped with joint groove (4.3), joint groove (4.3) and central joint head (2.3) of equipment mounting panel (2) bottom adapt to each other and the joint realizes being connected of equipment mounting panel (2) and upper portion hemisphere casing (3.1).

6. The dynamically stable full-view torpedo suitable for roadway warfare according to claim 2, wherein: the support shaft (8) comprises a plug connector (8.1) at the top and a support head (8.2) arranged at the bottom and vertical to the plug board (8.1); the plug connector (8.1) is composed of a plug board (8.11) and plug pins (8.12), the plug pins (8.12) are inserted into the fixing holes (3.4) of the supporting piece, the outer frame (5.1) is clamped and fixed between the two plug pins (8.12) of the supporting shaft (8), and the plug board (8.11) is attached to an installation plane area at the center of the bottom of the lower hemispherical shell (3.2); the supporting head (8.2) is of a single shaft body structure, the bottom of the supporting head is of a round head structure, and when the gyroscope (5) is in a working state, the bottom end of the supporting head (8.2) is in single-point contact with a supporting surface.

7. The dynamically stable full-view torpedo suitable for roadway warfare according to claim 6, wherein: the gyroscope sealing shell (3) is characterized in that outer frame clamping plates (3.7) are arranged at the top and the bottom of the gyroscope sealing shell (3) in pairs respectively to clamp and fix an outer frame (5.1), holes are formed in the positions, corresponding to the support piece fixing holes (3.4), of the outer frame clamping plates (3.7) in the lower hemispherical shell (3.2), and the pins (8.12) are inserted into the outer frame clamping plates (3.7) to be fixed.

8. A dynamically stable full-view torpedo suitable for roadway warfare according to claim 4 or 5, wherein: the gyroscope sealing shell (3), the equipment mounting plate (2) and the supporting shaft (8) are made of the same material and are made of hard aluminum alloy components.

9. The dynamically stabilized torpedo adapted for roadway warfare according to claim 8, wherein: the shock absorption device also comprises a shock absorption component and a protective outer cover, wherein the shock absorption component is arranged on the upper part of a support head (8.2) of the support shaft (8); the protection housing wraps the whole dynamic stable all-round torpedo, and reserved holes are formed in the protection housing only in the positions corresponding to the camera of the shooting device (1) and the position of the gyroscope at the bottom of the supporting shaft (8) at the landing position.

10. The method for installing and using the dynamic stable all-round torpedo suitable for the roadway warfare as claimed in any one of claims 1 to 9, which is characterized by comprising the following steps:

step two, installing the gyroscope (5) in the lower hemispherical shell (3.2): an outer frame (5.1) of the gyroscope (5) is fixedly connected with a lower hemispherical shell (3.2);

step three, assembling a gyroscope sealing shell (3): splicing and connecting an upper hemispherical shell (3.1) and a lower hemispherical shell (3.2) of a gyroscope sealing shell (3);

step four, installing the roller bearing (4): installing a roller bearing (4) in a bearing seat (3.3) at the top of an upper hemispherical shell (3.1);

step five, clamping the equipment mounting plate (2) on the roller bearing (4);

sixthly, mounting the shooting equipment (1) on the equipment mounting plate (2);

step seven, driving by an external motor (6): a transmission shaft of an external motor (6) is inserted into the gyroscope sealing shell (3) from an external motor inserting hole (3.5), and is in clutch connection with a rotating shaft (5.2) of the inner gyroscope (5) through a clutch, so that the external motor (6) is started to enable the gyroscope (5) to run at a high speed;

step eight, the external motor (6) is separated: after the gyroscope is started, the clutch is started to enable the external motor (6) to be separated from the gyroscope sealing shell (3);

step nine, mounting a support shaft (8): inserting the supporting shaft (8) into the bottom of the gyroscope sealing shell (3);

step eleven, starting a mobile control terminal (9) to collect information: and starting the mobile control terminal (9) to acquire information in real time.