Research On Dynamic Characteristics Of Ammunition-Transport Robot Of The Large Caliber Naval Gun

The aperture of naval gun is becoming larger with the development of the times,and the form of ammunition turns from full-size ammunition to dispensing ammunition.This imposes higher requirements on the ammunition supply system for naval guns.Therefore,solving the quick-loading problem of dispensing ammunition has become a key point in the design of the naval gun ammunition supply system.This paper aims at solving the problem of the dispensing ammunition supply for the ammunition feeding system.Based on a detailed analysis of the structure and working principle of the ammunition supply system,a new kind of ammunition transport robot is proposed.The horizontal drive mechanism and the ammunition lifting mechanism of the ammunition transport robot were designed in detail.The interface between the transport robot and other module was designed.The working sequence and movement rules of each mechanism were optimized.The kinematics characteristic of the transport robot was analyzed in the case of ship rolling.Aiming at the contact-impact between the ammunition and the bomb barrel in the process of ammunition transport,take the contact between the barrel and the shell as the objects of study.The contact mode between the barrel and the shell is determined and mathematically derived.The judging conditions for contact and collision between the shell and the bomb barrel were investigated.The Newton-Euler method was used to derive the kinetic equation of the shell under the influence of the clearance.Based on the theoretical analysis,the dynamics simulation of the contact and collision between the shell and bomb barrel with clearance was performed.The influence of the clearance on the dynamic characteristics of the shell was analyzed by using the software of Adams.The method of suppressing for the ammunition sloshing is explored.The ammunition support mechanism is designed to suppress the sloshing of the shell.The stiffness and the initial preload force of the leaf spring in the support mechanism are optimized,and the optimal leaf spring parameters are obtained.Based on the results of dynamic analysis,the finite element analysis software Ansys Workbench was used to make static analysis on important components such as guide rails,chain guides,and ejection support in the transport robot.The stress distribution cloud diagram was obtained.The weight of the transport robot is reduced by changing the material of the holding cylinder and carrying topography optimize on the frame body of the transport robot.