CN110553551A - General intelligent target vehicle for training light arms combat - Google Patents
General intelligent target vehicle for training light arms combat Download PDFInfo
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- CN110553551A CN110553551A CN201910949402.9A CN201910949402A CN110553551A CN 110553551 A CN110553551 A CN 110553551A CN 201910949402 A CN201910949402 A CN 201910949402A CN 110553551 A CN110553551 A CN 110553551A
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- 238000012549 training Methods 0.000 title claims abstract description 43
- 239000000725 suspension Substances 0.000 claims abstract description 64
- 239000006096 absorbing agent Substances 0.000 claims description 26
- 230000035939 shock Effects 0.000 claims description 26
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 12
- 210000000078 claw Anatomy 0.000 claims description 12
- 239000011449 brick Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 abstract description 4
- 230000007547 defect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009191 jumping Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000004568 cement Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A33/00—Adaptations for training; Gun simulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J9/00—Moving targets, i.e. moving when fired at
- F41J9/02—Land-based targets, e.g. inflatable targets supported by fluid pressure
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Abstract
The invention discloses a general intelligent target vehicle for training light weapon operation, which comprises a target drone assembly, a vehicle body assembly, an electric control system, a suspension system and a steering system, wherein the vehicle body assembly comprises a vehicle body framework, the target drone assembly is arranged on the upper part of the vehicle body framework in a matching way, the suspension system is arranged on the lower part of the vehicle body framework in a matching way, the suspension system comprises two front suspensions and two rear suspensions, the front suspensions and the rear suspensions are respectively arranged in an independent suspension structure, the steering system is connected and arranged on the two front suspensions, and the rear suspensions are respectively provided with a rear wheel rim direct drive motor. The invention can realize basic actions of rotation, display and hiding, lifting and the like of the target body, can independently and flexibly plan a walking path and output the target at any place/time, can be more flexibly suitable for the off-road maneuvering driving of the target practice training in various different scenes in the field, improves the anthropomorphic degree of the target practice training, is closer to the actual combat scene, and further improves the level of the outdoor shooting training.
Description
Technical Field
The invention relates to the field of production and research and development of intelligent target vehicles, in particular to a general intelligent target vehicle for training the combat of light weapons.
Background
The practice shooting is the most basic training subject in the shooting training of armed forces, and the practice training aims to improve the actual combat capability of soldiers. Traditional ball training target still gives first place to with fixed target and track target, though these target bodies have added mostly and have fallen or raising and lowering functions, promoted the shooting degree of difficulty to a certain extent, but these two kinds of target bodies still have the poor and dull problem of shooting object of mobility, the space position of fixed target is fixed, and the track target only can be according to the good track operation of laying in advance, the motion is the regularity, if want to change the orbit, still need dismantle the track and lay, consuming time and wasting force. Both the fixed target and the track target have the problems that the training personification degree is low, the actual combat situation cannot be better met, and the like. In addition, a small number of intelligent target vehicle robots are available at present, which can realize the functions of maneuvering, flexibility, target discharge anytime and anywhere, but are mainly limited to indoor scenes, and can not be completely matched with outdoor complex road conditions and scenes. The novel universal intelligent target vehicle equipment for the small arms combat training is provided for solving the problems, has high actual combat situation, is flexible, can be used for target shooting at any time and any place, and can adapt to indoor and outdoor scenes and other characteristics.
the applicant submits and applies Chinese patent in 2019, 1 month and 30 days, and the technical scheme discloses an outdoor target practice robot (application publication number: CN 109724475A). The intelligent target practice robot is suitable for outdoor target practice, the intelligent target practice robot can drive on cement, soil, gravel and other road surfaces by adopting a single-arm suspension and two motors to independently drive, the robot can respectively control two wheels to perform differential steering when turning, and meanwhile, the robot adopts a multi-link mechanism, and the single motor drives the two wheels to perform steering, so that the intelligent target practice robot is better suitable for cross-country driving movement in various outdoor complex ground environments, is more favorable for actual combat training requirements, and improves the training level of shooters.
However, the intelligent target-shooting robot still has defects and shortcomings when in use, because the target-shooting robot adopts a single-arm suspension structure, when a vehicle body has a large off-road bounce in the process of traveling, because the suspension of the target-shooting robot and the vehicle body are integrated, most of the bounce force received during the bounce is rebounded and slowed down by the wheels of the target-shooting robot, but because the bounce force of the tires of the robot is limited, the problem that the robot is overturned or cannot be overturned to travel when bouncing off-road is easily caused, the maneuvering performance of the target-shooting vehicle traveling in the field is influenced, and the smooth traveling of the target-shooting training is influenced.
Disclosure of Invention
The invention discloses a general intelligent target vehicle for training the fight weapon operation, which mainly aims to overcome the defects in the prior art.
The utility model provides a general intelligent target car, it not only can realize the basic action such as the rotation of target body, show stealthily, go up and down, and can independently nimble planning walking path, arbitrary place/time go out the target, simultaneously through setting up high maneuverability, four-wheel independent suspension structure, rear wheel limit motor directly drive and the automobile body of front wheel integrated form motor steering structure, can be applicable to the training cross-country motor of shooting of various different scenes in the field more nimble use of traveling, improve the anthropomorphic degree of shooting training, more be close to the actual combat sight, and then improve the level of outdoor shooting training.
The technical scheme adopted by the invention is as follows:
A general intelligent target vehicle for training light weapon operation comprises a target drone assembly, a vehicle body assembly, an electric control system, a suspension system and a steering system, wherein the vehicle body assembly comprises a vehicle body framework, the target drone assembly is arranged on the upper portion of the vehicle body framework in a matching way, the suspension system is arranged on the lower portion of the vehicle body framework in a matching way, the suspension system comprises two front suspensions and two rear suspensions, the front suspensions and the rear suspensions are respectively arranged in an independent suspension structure, the steering system is connected and arranged on the two front suspensions, and rear suspensions are respectively provided with a rear wheel edge direct drive motor; and the electric control system is respectively connected with the target drone assembly, the rear wheel edge direct drive motor and the steering system phase control.
Furthermore, the front suspension comprises a front shock absorber, a front upper arm, a front horn and a front lower arm, the front horn is sleeved on the front wheel of the vehicle, the front upper arm and the front lower arm are respectively installed on the front horn in a matched manner, and the front shock absorber is fixedly installed on the front lower arm in a matched manner.
Furthermore, a front shock absorber mounting seat is arranged in the middle of the upper surface of the front lower arm, and the front shock absorber is matched with a fixing device and arranged on the front shock absorber mounting seat.
Furthermore, the rear suspension comprises a rear upper arm, a rear lower arm, a rear claw, a rear coupler, a rear wheel-side direct-drive motor, a rear shock absorber and a first speed reducer, wherein the rear claw is sleeved on a rear wheel of the vehicle in a matched manner, and the rear upper arm and the rear lower arm are arranged on the rear claw in a matched manner; the rear wheel edge direct drive motor is in driving connection with the rear wheel of the vehicle through the first speed reducer and the rear coupler.
Furthermore, the left side and the right side of the upper surface of the rear lower arm are respectively provided with a rear shock absorber mounting seat, and the number of the rear shock absorbers is two and the rear shock absorbers are respectively matched and fixedly arranged on the rear shock absorber mounting seats.
Furthermore, a steering system comprises a steering pull rod, a steering motor, a second speed reducer, a position sensor, a support, a sensor shifting piece, a transmission shaft and a steering engine, wherein the steering motor passes through the second speed reducer and the transmission shaft are in driving connection with each other, the position sensor, the support and the sensor shifting piece are arranged on the transmission shaft in a distribution and matching mode, the steering engine is in match connection with the transmission shaft, the two ends of the steering engine are respectively connected with the steering pull rod, and the other end of the steering pull rod is connected with the front suspension.
Furthermore, the target drone assembly comprises a third reducer, a motor, a target seat, a target surface and a control component which is arranged in a matched mode, wherein the motor is matched and connected with the target surface through the third reducer and drives the target surface to rotate, and the target surface is arranged on the target seat.
Furthermore, electrical system includes automatically controlled cabinet and external sensing equipment, battery, circuit breaker, relay, motor drive, brake electricity cloudy and ultrasonic controller have been installed with adaptation in the automatically controlled cabinet, external sensing equipment includes ultrasonic radar, laser radar, anticollision strip and turns to the sensor.
Furthermore, the automobile body assembly further comprises a bulletproof steel plate and rubber bricks, wherein the bulletproof steel plate is arranged on the periphery of the automobile body framework in a matched mode, and the rubber bricks are arranged on the outer surface of the bulletproof steel plate in a matched mode.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
1. The invention greatly improves the maneuvering performance of the target-shooting robot when the target-shooting robot travels outdoors by arranging the four front and rear suspensions which are independently arranged, the vehicle body can freely jump in the off-road process, and the four wheels and the suspensions can freely jump, thereby overcoming the defect that the vehicle body can only realize the jumping by the integral suspension and the self elasticity of the tire in sequence in the prior art, substantially improving the field traveling maneuverability and the off-road performance of the target-shooting robot, realizing the high maneuvering traveling function of the target-shooting robot in the field with complex terrain, improving the anthropomorphic degree of training and improving the shooting level.
2. The invention can realize basic actions of target body such as rotation, display and hiding, lifting and the like, can independently and flexibly plan a walking path and output targets at any place/time, and can be more flexibly suitable for target practice training cross-country motor driving in various different scenes in the field by arranging the vehicle body with high maneuvering performance, a four-wheel independent suspension structure, a rear wheel side motor direct drive structure and a front wheel integrated motor steering structure, thereby improving the anthropomorphic degree of target practice training, being closer to actual combat scenes and further improving the level of outdoor shooting training.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic cross-sectional structure of the present invention.
Fig. 3 is a schematic top view of the present invention.
Fig. 4 is a schematic structural view of the suspension system of the present invention.
Fig. 5 is a schematic structural view of the front suspension of the present invention.
Fig. 6 is a side view schematic of the structure of fig. 5.
Fig. 7 is a schematic structural view of the rear suspension of the present invention.
Fig. 8 is a side view schematic of the structure of fig. 7.
fig. 9 is a schematic view of the structure of the steering system of the present invention.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 9, a general intelligent target vehicle for training light weapon combat comprises a target drone assembly 1, a vehicle body assembly 2, an electric control system 3, a suspension system 4 and a steering system 5, wherein the vehicle body assembly 2 comprises a vehicle body framework 21, the target drone assembly 1 is installed on the upper portion of the vehicle body framework 21 in a matching manner, the suspension system 4 is installed on the lower portion of the vehicle body framework 21 in a matching manner, the suspension system 4 comprises two front suspensions 41 and two rear suspensions 42, the front and rear suspensions (41, 42) are respectively arranged in an independent suspension structure, the steering system 5 is connected and arranged on the two front suspensions 41, and the rear suspensions 42 are respectively provided with a rear wheel-side motor 421; the electric control system 3 is respectively connected with the target drone assembly 1, the rear wheel edge direct drive motor 421 and the steering system 5 in a control mode.
Further, the front suspension 41 includes a front shock absorber 411, a front upper arm 412, a front knuckle 413 and a front lower arm 414, the front knuckle 413 is cooperatively sleeved on a front wheel of the vehicle, the front upper arm 412 and the front lower arm 414 are respectively cooperatively installed on the front knuckle 413, and the front shock absorber 411 is cooperatively and fixedly installed on the front lower arm 414.
Further, a front shock absorber mounting seat 4141 is provided at a middle position of an upper surface of the front lower arm 414, and the front shock absorber 411 is fitted with a fixing device to the front shock absorber mounting seat 4141.
Further, the rear suspension 42 includes a rear upper arm 422, a rear lower arm 423, a rear claw 424, a rear coupling 425, the rear wheel-side direct drive motor 421, a rear shock absorber 426 and a first speed reducer 427, the rear claw 424 is fittingly sleeved on a rear wheel of the vehicle, and the rear upper arm 422 and the rear lower arm 423 are fittingly installed on the rear claw 424; the rear wheel side direct drive motor 421 is connected with the rear wheel of the vehicle through the first speed reducer 427 and the rear coupling 425.
Further, rear cushion mounting seats 4231 are provided on the left and right sides of the upper surface of the rear lower arm 423, respectively, and two rear cushions 426 are provided and are fixedly mounted on the rear cushion mounting seats 4231, respectively.
Furthermore, the steering system 5 includes a steering linkage 51, a steering motor 52, a second speed reducer 53, a position sensor 54, a support 55, a sensor shifting piece 56, a transmission shaft 57 and a steering gear 58, the steering motor 52 passes through the second speed reducer 53 and the transmission shaft 57 are in driving connection with each other, the position sensor 54, the support 55 and the sensor shifting piece 56 are mounted on the transmission shaft 57 in a distribution fit manner, the steering gear 58 is in matching connection with the transmission shaft 57, two ends of the steering gear 58 are respectively connected with the steering linkage 51, and the other end of the steering linkage 51 is in matching connection with the front suspension 41.
Furthermore, the target drone assembly 1 includes a third decelerator 11, a motor 12, a target holder 13, a target surface 14 and a control component configured in a matching manner, the motor 12 is connected to the target surface 14 through the third decelerator 11, and drives the target surface 14 to rotate, and the target surface 14 is disposed on the target holder 13.
Further, electrical system 3 includes automatically controlled cabinet 31 and external sensing equipment 32, battery, circuit breaker, relay, motor drive, brake electricity cloudy and ultrasonic controller have been installed with the adaptation in the automatically controlled cabinet 31, external sensing equipment 32 includes ultrasonic radar, laser radar, anticollision strip and steering sensor.
Furthermore, the vehicle body assembly 2 further comprises a bulletproof steel plate 22 and a rubber brick 23, wherein the bulletproof steel plate 22 is installed at the periphery of the vehicle body framework 21 in a matching manner, and the rubber brick 23 is installed at the outer surface of the bulletproof steel plate 22 in a matching manner.
The use method of the invention comprises the following steps:
When receiving a training task, a worker can preset the occurrence place and the target-out time of the general intelligent target vehicle on an upper computer software interface according to training subjects and requirements, and can also temporarily change related contents.
Target scoring system: according to the training task, the universal intelligent target vehicle moves to a corresponding place, the posture of the target to be shot is adjusted, namely the target surface is in an implicit state, after the control system receives a shooting instruction, the motor acts, the target surface structure is driven by the reducer to rotate 90 degrees quickly, the target surface structure waits for the shooting of a trained person, when the target surface structure detects effective shooting, a corresponding shooting score is uploaded to an upper computer software interface of a background control room through the target reporting system and the wireless communication unit, and the shooting score is displayed and stored in real time.
A positioning system: the GPS outdoor autonomous navigation technology, the path planning, the autonomous obstacle avoidance and other functions are adopted, the upper computer sends an instruction, the universal intelligent target vehicle driving system and the steering system are controlled to autonomously move from a starting point or a target point to a next target point or a final point according to specific conditions of a site, the positioning precision can reach 1m, and the positioning range can reach 1km x 1 km.
Driving and steering system: a four-wheel independent double-cross-arm suspension structure is adopted, and a power mode is directly driven by a rear wheel motor, so that guarantee is provided for the movement performance of outdoor comprehensive working conditions. An integrated motor front wheel steering mode is adopted, and a steering pull rod is driven by a steering motor and a speed reducer to push a steering wheel to realize a maximum 30-degree corner.
The safety protection system comprises: in order to protect the internal devices of the universal intelligent target car from being punctured by bullets, the car body assembly is completely protected by a 7 mm-thick bulletproof steel plate and can resist 7.6mm bullet shooting, and the bulletproof steel plate and the car body assembly can be quickly disassembled and are conveniently and quickly replaced on site. The distance between shooting personnel and the universal intelligent target vehicle can be far or near, and in order to prevent the bullet from jumping after the bullet hits the bulletproof steel plate during shooting and accidentally injure training personnel, a layer of rubber bricks with the thickness of 20mm is arranged on the bulletproof steel plate.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
1. The invention greatly improves the maneuvering performance of the target-shooting robot when the target-shooting robot travels outdoors by arranging the four front and rear suspensions which are independently arranged, the vehicle body can freely jump in the off-road process, and the four wheels and the suspensions can freely jump, thereby overcoming the defect that the vehicle body can only realize the jumping by the integral suspension and the self elasticity of the tire in sequence in the prior art, substantially improving the field traveling maneuverability and the off-road performance of the target-shooting robot, realizing the high maneuvering traveling function of the target-shooting robot in the field with complex terrain, improving the anthropomorphic degree of training and improving the shooting level.
2. The invention can realize basic actions of target body such as rotation, display and hiding, lifting and the like, can independently and flexibly plan a walking path and output targets at any place/time, and can be more flexibly suitable for target practice training cross-country motor driving in various different scenes in the field by arranging the vehicle body with high maneuvering performance, a four-wheel independent suspension structure, a rear wheel side motor direct drive structure and a front wheel integrated motor steering structure, thereby improving the anthropomorphic degree of target practice training, being closer to actual combat scenes and further improving the level of outdoor shooting training.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications of the present invention using this concept shall fall within the scope of infringing the present invention.
Claims (9)
1. the utility model provides a general intelligent target car of light arms combat training which characterized in that: the target drone vehicle comprises a target drone vehicle assembly, a vehicle body assembly, an electric control system, a suspension system and a steering system, wherein the vehicle body assembly comprises a vehicle body framework, the target drone vehicle assembly is arranged on the upper part of the vehicle body framework in a matching way, the suspension system is arranged on the lower part of the vehicle body framework in a matching way, the suspension system comprises two front suspensions and two rear suspensions, the front suspensions and the rear suspensions are respectively arranged in an independent suspension structure, the steering system is connected and arranged on the two front suspensions, and rear wheel edge direct drive motors are respectively arranged on the rear suspensions; and the electric control system is respectively connected with the target drone assembly, the rear wheel edge direct drive motor and the steering system phase control.
2. The universal intelligent target vehicle for training small arms combat according to claim 1, wherein: the front suspension frame comprises a front shock absorber, a front upper arm, a front claw and a front lower arm, the front claw is matched and sleeved on a front wheel of a vehicle, the front upper arm and the front lower arm are respectively matched and arranged on the front claw, and the front shock absorber is matched and fixedly arranged on the front lower arm.
3. The universal intelligent target vehicle for training small arms combat according to claim 2, wherein: the middle position of the upper surface of the front lower arm is provided with a front shock absorber mounting seat, and the front shock absorber is matched with a fixing device and is arranged on the front shock absorber mounting seat.
4. The universal intelligent target vehicle for training small arms combat according to claim 1, wherein: the rear suspension comprises a rear upper arm, a rear lower arm, a rear claw, a rear coupler, a rear wheel-side direct-drive motor, a rear shock absorber and a first speed reducer, wherein the rear claw is sleeved on a rear wheel of a vehicle in a matched manner, and the rear upper arm and the rear lower arm are arranged on the rear claw in a matched manner; the rear wheel edge direct drive motor is in driving connection with the rear wheel of the vehicle through the first speed reducer and the rear coupler.
5. The universal intelligent target vehicle for training small arms combat according to claim 4, wherein: the left side and the right side of the upper surface of the rear lower arm are respectively provided with a rear shock absorber mounting seat, and the number of the rear shock absorbers is two and the rear shock absorbers are respectively matched, fixed and mounted on the rear shock absorber mounting seats.
6. The universal intelligent target vehicle for training small arms combat according to claim 2, wherein: the steering system comprises a steering pull rod, a steering motor, a second speed reducer, a position sensor, a support, a sensor shifting piece, a transmission shaft and a steering engine, wherein the steering motor passes through the second speed reducer and the transmission shaft are in driving connection with each other, the position sensor, the support and the sensor shifting piece are arranged on the transmission shaft in a distribution and matching mode, the steering engine is in match connection with the transmission shaft, the two ends of the steering engine are respectively connected with the steering pull rod, and the other end of the steering pull rod is connected with the front suspension.
7. The universal intelligent target vehicle for training small arms combat according to claim 1, wherein: the target drone assembly comprises a third reducer, a motor, a target seat, a target surface and a control component which is arranged in a matched mode, the motor is connected with the target surface in a matched mode through the third reducer and drives the target surface to rotate, and the target surface is arranged on the target seat.
8. The general intelligent target vehicle for light military combat training of claim 1, wherein the target vehicle comprises: the electric control system comprises an electric control cabinet and an external sensing device, a battery, a circuit breaker, a relay, a motor driver, a brake electric cathode and an ultrasonic controller are adaptively arranged in the electric control cabinet, and the external sensing device comprises an ultrasonic radar, a laser radar, an anti-collision strip and a steering sensor.
9. The universal intelligent target vehicle for training small arms combat according to claim 1, wherein: the vehicle body assembly further comprises a bulletproof steel plate and rubber bricks, the bulletproof steel plate is arranged on the periphery of the vehicle body framework in a matched mode, and the rubber bricks are arranged on the outer surface of the bulletproof steel plate in a matched mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910949402.9A CN110553551B (en) | 2019-10-08 | Universal intelligent target vehicle for light weapon combat training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910949402.9A CN110553551B (en) | 2019-10-08 | Universal intelligent target vehicle for light weapon combat training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110553551A true CN110553551A (en) | 2019-12-10 |
| CN110553551B CN110553551B (en) | 2024-07-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117091453A (en) * | 2023-10-20 | 2023-11-21 | 泉州市双笛科技发展有限公司 | Laser target base and laser target car |
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| CN117091453A (en) * | 2023-10-20 | 2023-11-21 | 泉州市双笛科技发展有限公司 | Laser target base and laser target car |
| CN117091453B (en) * | 2023-10-20 | 2023-12-26 | 泉州市双笛科技发展有限公司 | Laser target base and laser target car |
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