Adaptive locking device and rocket adaptive locking system

Abstract

An adaptive locking device and a rocket adaptive locking system, the locking device comprising a movable platform, an adaptive assembly is installed on the movable platform, the adaptive assembly comprising a contact plate and a spherical hinge structure, the spherical hinge structure comprising a spherical hinge capable of driving the contact plate to rotate in all directions, the spherical hinge structure being installed on the movable platform through a base, a lifting mechanism being connected to the bottom of the movable platform, the lifting mechanism being capable of driving the movable platform and the adaptive assembly to perform lifting movement through a synchronous driving mechanism; the adaptive locking system comprising a rocket and a windproof load reduction device, the windproof load reduction device having an open slot, the windproof load reduction device being locked in the open slot through a plurality of adaptive locking devices, the contact plates of the plurality of adaptive locking devices being tightly attached to the outer surface of the rocket body, the other ends of the plurality of adaptive locking devices being fixed on the open slot. The structure of the present application is ingenious, not only can realize active locking of the rocket, but also can solve the perpendicularity and multi-degree-of-freedom adjustment under the condition of rocket deviation, and has wide application range.

Description

Technical Field

[0001] This invention relates to a locking device, and more particularly to an adaptive locking device and a rocket adaptive locking system for use in the vertical transport of rockets. Background Technology

[0002] In the field of rocket wind protection and load reduction technology, wind protection and load reduction devices must not only achieve effective locking to ensure the rocket is locked and fixed, but also have the function of releasing the fixed device from the rocket. This requires the wind protection and load reduction device to have locking and unlocking functions.

[0003] With the development of wind-resistant and load-reducing technologies, fastening connecting rings have become an option. However, this method of wind-resistant and load-reducing, which relies solely on connecting rings and bolts for locking, presents three problems: first, the precision required for the connection between the connecting ring and the rocket body is high; second, manual connection of multiple sets of connecting rings is inefficient; and third, the risk factor for personnel working at heights is high. Therefore, to achieve a rapid locking function for the rocket body, an automatic locking device that adapts to rocket body offset is needed to achieve its rapid and reliable locking function.

[0004] Traditional rocket body locking devices can only be manually connected and locked, and do not have the function of actively adapting to the displacement of the rocket body.

[0005] Therefore, how to design a multi-degree-of-freedom adaptive locking device and rocket adaptive locking system that can not only achieve active locking of the rocket body, but also solve the problem of verticality adjustment under rocket deviation conditions is the subject that the inventor has devoted himself to researching. Summary of the Invention

[0006] The purpose of this invention is to provide an adaptive locking device and a rocket adaptive locking system. Its structure is ingeniously designed, which can not only realize the active locking of the rocket, but also solve the problem of verticality and multi-degree-of-freedom adjustment under rocket offset conditions, and its application range is wide.

[0007] To achieve the above objectives, the technical solution of the present invention is as follows: an adaptive locking device, characterized in that it includes a moving platform, the moving platform having a first opening slot on its upper surface, an adaptive component installed in the first opening slot, the adaptive component including a contact plate and a ball joint structure, the ball joint structure including a ball joint capable of driving the contact plate to rotate with multiple degrees of freedom, the ball joint structure being mounted on the first opening slot via a base, a lifting mechanism connected to the lower surface of the moving platform, the lifting mechanism being connected to a synchronous drive mechanism, the lifting mechanism enabling the moving platform and the adaptive component to perform lifting and lowering movements under the drive of the synchronous drive mechanism.

[0008] The present invention provides an adaptive locking device, wherein the ball joint structure further includes a ball joint seat and a ball joint cover, the ball joint is installed between the ball joint seat and the ball joint cover, the lower end of the ball joint seat is fixed to the base, the lower end of the contact plate is fixed to the ball joint, and the upper part of the contact plate is located above the ball joint cover.

[0009] The present invention provides an adaptive locking device, wherein the contact plate includes an upper contact plate body and a connecting portion at the lower end of the contact plate body, the upper end of the ball joint is provided with a threaded hole, the connecting portion is screwed and fixed to the threaded hole, and the contact plate body is located above the ball joint cover.

[0010] The present invention provides an adaptive locking device in which two pins are provided on the two opposite sides of the ball joint perpendicular to the threaded hole, and the two pins extend into the area between the ball joint cover and the ball joint seat.

[0011] The present invention provides an adaptive locking device in which a second opening groove is provided on the upper surface of the base, a force sensor is provided in the second opening groove, and the ball joint seat is disposed on top of the force sensor.

[0012] The present invention provides an adaptive locking device, wherein the lifting mechanism includes two lifting rods, or one lifting rod and one lifting rod group, or two lifting rod groups. The upper ends of the two lifting rods, or one lifting rod and one lifting rod group, or two lifting rod groups are respectively hinged to the lower ends of the left and right sides of the moving platform. The lower ends of the two lifting rods, or one lifting rod and one lifting rod group, or two lifting rod groups are respectively connected to the synchronous drive mechanism through hinged sliders.

[0013] The present invention provides an adaptive locking device, wherein the lifting rod assembly includes two lifting rods, the upper ends of the two lifting rods are hinged to the front and rear sides of the moving platform by pins, the lower ends of the two lifting rods are hinged to the front and rear sides of the hinge seat by pins, the hinge seat is fixed on the slider, and the two lifting rods and the two pins form a parallelogram structure.

[0014] The adaptive locking device of the present invention wherein the upper ends of the two lifting rods or one lifting rod and one or two lifting rod groups are hinged to the moving platform in a cross-shaped manner.

[0015] The present invention relates to an adaptive locking device, wherein the synchronous drive mechanism includes a power mechanism, a forward and reverse screw or worm gear structure driven by the power mechanism, and a forward nut and a reverse nut installed on the screw or worm gear, and two sliders are respectively fixed on the forward nut and the reverse nut.

[0016] The present invention provides an adaptive locking device, wherein the synchronous drive mechanism includes two power mechanisms, two lead screws or two worm gear structures driven by the two power mechanisms, and two nuts installed on the two lead screws or two worm gears, and the two sliders are respectively fixed on the two nuts.

[0017] The present invention relates to an adaptive locking device, wherein the power mechanism is a hydraulic motor or a servo motor.

[0018] The present invention relates to an adaptive locking device, wherein the lead screw is a single-headed trapezoidal lead screw.

[0019] The present invention provides an adaptive locking device, wherein the synchronous drive mechanism is disposed on a base assembly, the base assembly includes a guide rail, two sliders are slidably disposed on the top of the guide rail, two end plates are installed at both ends of the guide rail, the synchronous drive mechanism is installed between the two end plates, a base plate is provided below the guide rail and the two end plates, and the guide rail is fixedly connected to the base plate.

[0020] The present invention relates to an adaptive locking device, wherein a rotary encoder is installed at one end of the lead screw or the worm gear.

[0021] A rocket adaptive locking system includes a rocket and a wind-resistant and load-reducing device. The wind-resistant and load-reducing device has a third opening slot for accommodating the rocket body. The wind-resistant and load-reducing device locks the rocket body in the third opening slot through a plurality of adaptive locking devices. The contact plates of the plurality of adaptive locking devices are tightly attached to the outer surface of the rocket body around its circumference. The other end of the plurality of adaptive locking devices is fixed to the third opening slot.

[0022] The present invention provides a rocket adaptive locking system in which contact plates of a plurality of the adaptive locking devices are evenly distributed circumferentially on the outer surface of the rocket body.

[0023] After adopting the above solution, the adaptive locking device and rocket adaptive locking system of the present invention have the following characteristics:

[0024] Beneficial effects:

[0025] 1. By installing an adaptive component on the moving platform, the contact plate of the adaptive component, which is in contact with the rocket body, is rotatably mounted on the ball joint of the ball joint structure, so that the contact plate can achieve three-dimensional multi-degree-of-freedom adaptive adjustment, thereby adapting to the horizontal offset of the rocket body and a certain displacement in the vertical direction.

[0026] 2. By connecting a lifting mechanism under the moving platform, the adaptive components can automatically extend through the lifting mechanism to fit and lock the rocket body, reducing the risk of high-altitude operations for operators and improving work efficiency;

[0027] 3. The reverse stroke self-locking principle can be realized by using the single-head trapezoidal forward and reverse rotating screw or worm gear of the synchronous drive mechanism. Multiple such adaptive locking devices can be used to lock any position of the rocket body.

[0028] 4. By installing a rotary encoder at one end of the lead screw or worm gear and a force sensor under the ball joint, the force-position hybrid control principle is utilized to monitor the extension position in real time during the extension of the adaptive locking device driven by the power mechanism, and to stop immediately if overtravel occurs. Simultaneously, during contact with the rocket body, the force sensor provides feedback on the contact force between the locking device and the rocket body, preventing the locking device from applying excessive pressure to the rocket body and improving the system's reliability.

[0029] 5. By mounting the lower end of the contact plate onto the universal ball joint, the vertical stiffness and off-center load bearing capacity of the locking device supporting the rocket body are improved. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the upward process of the adaptive locking device of the present invention;

[0031] Figure 2 This is a schematic diagram of the adaptive locking device of the present invention without the adaptive component installed;

[0032] Figure 3 This is a schematic diagram of the adaptive component structure of the present invention;

[0033] Figure 4 This is a schematic diagram of the descent process of the adaptive locking device of the present invention;

[0034] Figure 5 This is a schematic diagram of the rocket adaptive locking system of the present invention. Detailed Implementation

[0035] The present invention will now be described with reference to the embodiments shown in the accompanying drawings. The embodiments disclosed herein are illustrative in all respects and are not intended to be limiting. The scope of the invention is not limited by the following description of the embodiments, but only by the scope of the claims, and includes all modifications having the same meaning as and within the scope of the claims.

[0036] The structure of the multi-degree-of-freedom adaptive locking and fixing device of the present invention will be described below with reference to specific embodiments.

[0037] like Figure 1 , Figure 4 The diagram shows the structure of the adaptive locking device of the present invention during the rising and falling processes. The locking device includes a moving platform 1, an adaptive component, a lifting mechanism, a synchronous drive mechanism, and a base component.

[0038] The upper surface of the moving platform 1 is provided with a first opening slot 2, and an adaptive component is installed in the first opening slot 2. Figure 3 As shown, the adaptive component includes a contact plate 3 and a ball joint structure. The contact plate 3 consists of a horizontally placed contact plate body 4 and a connecting part 5 vertically disposed at the lower end of the contact plate body 4, the connecting part 5 being shaft-shaped. The contact plate 3 has a T-shaped structure. The outer surface of the connecting part 5 is provided with external threads.

[0039] The ball joint structure includes a ball joint 6 that can drive the contact plate 3 to rotate with multiple degrees of freedom, a ball joint seat 7, and a ball joint cover 8. The ball joint 6 is installed between the ball joint seat 7 and the ball joint cover 8. The lower end of the ball joint seat 7 is fixed to the base 9, and the base 9 of the ball joint structure is fixed in the first opening slot 2 of the moving platform 1.

[0040] The ball joint 6 is a spherical body with a threaded hole 10 at its upper end. The connecting part 5 is screwed into the threaded hole 10 via external threads. The contact plate body 4 is located above the ball joint cover 8. Pins 11 are provided on the left and right opposite sides of the ball joint 6. The two pins 11 are located in the cavity area between the ball joint cover 8 and the ball joint seat 7. A second opening groove 12 is provided on the upper surface of the base 9. A force sensor 13 is installed in the second opening groove 12, and the ball joint seat 7 is located above the force sensor 13. The ball joint 6 with two pins 11 can rotate around the two axes of the connecting part 5 and the pins 11. Therefore, the contact plate 3 can passively adapt to the offset of the rocket body and make complete contact with it.

[0041] Combination Figure 2 As shown, a lifting mechanism is connected to the lower part of the moving platform 1. In this embodiment, the lifting mechanism includes a lifting rod assembly on the left and a lifting rod 14 on the right. The lifting rod assembly and the lifting rod 14 are arranged in a cross shape. The lifting rod assembly includes two lifting rods 14, the upper ends of which are hinged to the lower right side of the front and rear sides of the moving platform 1 by pins. The lower ends of the two lifting rods 14 are hinged to the front and rear sides of a first hinge seat 15 by pins. The first hinge seat 15 is fixedly connected to the slider 16 on the left side. The two lifting rods 14 and the two pins form a parallelogram structure. The upper end of the right lifting rod 14 is hinged to the lower left side of the moving platform 1 by a pin, and the lower end of the right lifting rod 14 is hinged to a second hinge seat 17 by a pin. The lower end of the second hinge seat 17 is fixedly connected to the slider 16 on the right side. This lifting mechanism is connected to a synchronous drive mechanism through the two hinged sliders 16. The lifting mechanism, driven by the synchronous drive mechanism, enables the moving platform 1 and the adaptive components to move up and down.

[0042] Of course, the above-mentioned lifting mechanism can also be arranged with two lifting rods on the left and right sides in a cross shape or with two lifting rod groups in a cross shape, both of which are within the scope of protection of this invention.

[0043] The synchronous drive mechanism includes a power mechanism, a forward and reverse rotating lead screw 18 driven by the power mechanism, and a forward rotating nut 19 and a reverse rotating nut 20 mounted on the lead screw 18. The forward rotating nut 19 is mounted on the forward rotating side of the lead screw 18, i.e., the left side in the figure, and the reverse rotating nut 20 is mounted on the reverse rotating side of the lead screw 18, i.e., the right side in the figure. The forward rotating nut 19 and the reverse rotating nut 20 are respectively bolted to the two sliders 16. By using the forward and reverse rotating lead screw 18 to drive the forward rotating nut 19 and the reverse rotating nut 20, the synchronous forward and reverse moving motion of the two sliders 16 can be achieved.

[0044] In this embodiment, the power mechanism uses a hydraulic motor 21, but a servo motor or similar device can also be used instead. The lead screw 18 can also be replaced by a worm gear structure, which still has the ability to reverse the stroke and lock itself. A rotary encoder 22 is installed on the left end of the lead screw 18.

[0045] The synchronous drive mechanism can also be replaced by a structure consisting of two power mechanisms, two lead screws 18 driven by the two power mechanisms, and two nuts mounted on the two lead screws 18, with the two sliders 16 fixed to the two nuts. In this alternative, the two power mechanisms drive the two nuts and the two sliders 16 to move synchronously, thereby driving the lifting mechanism to achieve smooth lifting motion.

[0046] The drive mechanism is mounted on the base assembly. The base assembly includes a guide rail 23. In this embodiment, the guide rail 23 is a dovetail guide rail, which allows the locking device to simultaneously withstand high pressure loads and large bending moments. Of course, other types of guide rail structures can also be used. Two sliders 16 are slidably mounted on the guide rail 23. This design allows for additional support on both sides of the sliders 16, achieving the same load-bearing effect. Two end plates 24 are connected to the left and right ends of the guide rail 23, and the left and right ends of the lead screw 18 of the drive mechanism are mounted on the two end plates 24. The lead screw 18 is positioned by bearings mounted on the two end plates 24. The hydraulic motor 21 is bolted to the right end plate 24. The hydraulic motor 21 drives the forward and reverse rotating lead screw 18 to rotate forward and reverse, thereby causing the forward rotating nut 19, the left slider 16 and the reverse rotating nut 20, and the right slider 16 to move towards each other and away from each other, respectively. Finally, the lifting mechanism enables the moving platform 1 to actively extend outward and retract inward. The lead screw 18 adopts a single-head trapezoidal lead screw drive with self-locking function, which can realize self-locking during reverse stroke at any position of the power mechanism.

[0047] A base plate 25 is provided below the guide rail 23 and the two end plates 24, and the guide rail 23 and the base plate 25 are connected together by multiple bolts.

[0048] like Figure 5 The schematic diagram of the rocket adaptive locking system of the present invention shown includes a rocket body 26 and a wind-resistant and load-reducing device 27. A semi-circular third opening slot 28 is formed on the right side of the wind-resistant and load-reducing device 27 to accommodate the rocket body 26. The wind-resistant and load-reducing device 27 utilizes multiple... Figure 1 , Figure 4 The adaptive locking device 29 shown secures the rocket body 26 within the third opening slot 28. This embodiment employs three locking devices 29. The three locking devices 29 are evenly arranged at 120° intervals around the outer surface of the rocket body 26, achieving active locking of the rocket body 26 and adapting to horizontal displacement. Of course, combinations of locking devices, not limited to two or five, can also achieve the same effect. The contact plate bodies 4 of the three locking devices 29 are tightly attached to the outer surface of the rocket body 26, and the base assemblies of the three locking devices 29 are fixed to the third opening slot 28.

[0049] Combination Figure 1 As shown, when the locking device 29 needs to lock the rocket body 26, the hydraulic motors 21 of the three locking devices 29 start rotating forward simultaneously, driving the forward and reverse screws 18 to rotate. The forward screw nut 19 and the reverse screw nut 20 move towards each other under the guidance of the two sliders 16 and the guide rail 23, thereby driving the left lifting rod group and the right lifting rod 14 of the lifting mechanism to extend outward respectively, pushing the moving platform 1 and the adaptive component to extend towards the rocket body 26. During the outward extension process, the moving platform 1 receives real-time feedback of the movement distance from the rotary encoder 22 to prevent overtravel. Furthermore, during the simultaneous movement of the three locking devices 29 towards the rocket body 26, the contact force between the locking device 29 and the rocket body 26 is monitored in real-time by the force sensor 13. When the measured contact force exceeds the set 400 kg, the hydraulic motor 21 stops moving. This ensures that the locking device 29 does not damage the structure of the rocket body 26 during the locking process, improving the reliability of the entire locking system. The locking device 29, which is not in contact with the rocket body 26, continues to move.

[0050] Combination Figure 4 As shown, when the windproof and load-reducing device 27 needs to cancel the rocket holding, the hydraulic motors 21 of the three locking devices 29 start and reverse at the same time, driving the forward and reverse screws 18 to rotate. The forward screw 19 and the reverse screw 20 move in opposite directions under the guidance of the two sliders 16 and the guide rail 23, thereby driving the left lifting rod group and the right lifting rod 14 of the lifting mechanism to retract inward respectively, so that the moving platform 1 and the adaptive component are retracted to the calibrated initial position away from the rocket body. At this time, the locking device 29 is in the retraction state.

[0051] The potential of the adaptive locking device of this invention is not limited to the locking of the rocket body 26; its principle can be applied to any similar application that requires active adaptive locking.

[0052] This invention utilizes an adaptive component mounted on the moving platform 1. The contact plate 3, which contacts the rocket body 26, is rotatably mounted on the ball joint 6 of the ball joint structure. This allows the contact plate 3 to achieve three-dimensional, multi-degree-of-freedom adaptive adjustment to accommodate horizontal deviations and certain vertical displacements of the rocket body 26. A lifting mechanism connected below the moving platform 1 allows the adaptive component to automatically extend outwards to lock and secure the rocket body 26, reducing the risk of high-altitude operations for personnel and improving work efficiency. The forward and reverse rotation screws 18 of the drive mechanism achieve a reverse stroke self-locking principle; multiple locking devices 29 can lock the rocket body 26 to any position. By installing a rotary encoder 22 at the left end of the screw 18 and a force sensor 13 below the ball joint seat 7, and utilizing a force-position hybrid control principle, the extension position is monitored in real time as the hydraulic motor 21 drives the contact plate 3 of the locking device 29 to extend outwards; any overtravel is immediately stopped. Simultaneously, during the contact process with the rocket body 26, the force sensor 13 provides feedback on the contact force between the locking device 29 and the rocket body 26, preventing the locking device 29 from applying excessive pressure to the rocket body 26 and improving the reliability of the system. By mounting the lower end of the contact plate 3 onto the universal ball joint 6, the vertical stiffness and eccentric load bearing capacity of the locking device 29 supporting the rocket body 26 are improved.

[0053] The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An adaptive locking device, characterized in that, The device includes a moving platform with a first opening slot on its upper surface. An adaptive component is installed in the first opening slot. The adaptive component includes a contact plate and a ball joint structure. The ball joint structure includes a ball joint that can drive the contact plate to rotate with multiple degrees of freedom. The ball joint structure is installed in the first opening slot via a base. A lifting mechanism is connected to the lower surface of the moving platform. The lifting mechanism is connected to a synchronous drive mechanism. Under the drive of the synchronous drive mechanism, the lifting mechanism can cause the moving platform and the adaptive component to move up and down. The ball joint structure also includes a ball joint seat and a ball joint cover. The ball joint is installed between the ball joint seat and the ball joint cover. The lower end of the ball joint seat is fixed to the base. The lower end of the contact plate is fixed to the ball joint. The upper part of the contact plate is located above the ball joint cover. The contact plate includes a contact plate body located at the upper part and a connecting part located at the lower end of the contact plate body. The upper end of the ball joint is provided with a threaded hole, and the connecting part is screwed and fixed to the threaded hole. The contact plate body is located above the ball joint cover. Two pins are provided on the two opposite sides of the ball joint, perpendicular to the threaded hole, and the two pins extend into the area between the ball joint cover and the ball joint seat; The upper surface of the base is provided with a second opening groove, and a force sensor is provided in the second opening groove. The ball joint seat is provided on top of the force sensor. The lifting mechanism includes two lifting rods, one lifting rod and one lifting rod group, or two lifting rod groups. The upper ends of the two lifting rods, one lifting rod and one lifting rod group, or two lifting rod groups are respectively hinged to the lower ends of the left and right sides of the moving platform. The lower ends of the two lifting rods, one lifting rod and one lifting rod group, or two lifting rod groups are respectively connected to the synchronous drive mechanism through hinged sliders. The synchronous drive mechanism includes a power mechanism, a forward and reverse screw driven by the power mechanism, and a forward nut and a reverse nut installed on the screw. The two sliders are respectively fixed on the forward nut and the reverse nut. A rotary encoder is installed at one end of the lead screw.

2. The adaptive locking device as described in claim 1, characterized in that, The lifting rod assembly includes two lifting rods. The upper ends of the two lifting rods are hinged to the front and rear sides of the moving platform by pins, and the lower ends of the two lifting rods are hinged to the front and rear sides of the hinge seat by pins. The hinge seat is fixed on the slider. The two lifting rods and the two pins form a parallelogram structure.

3. The adaptive locking device as described in claim 1, characterized in that, The upper ends of the two lifting rods, or one lifting rod and one or two lifting rod groups, are hinged to the moving platform in a cross-shaped configuration.

4. The adaptive locking device as described in claim 1, characterized in that, The synchronous drive mechanism includes two power mechanisms, two lead screws driven by the two power mechanisms, and two nuts installed on the two lead screws. The two sliders are respectively fixed on the two nuts.

5. The adaptive locking device as described in claim 1 or 4, characterized in that, The power mechanism uses a hydraulic motor or a servo motor.

6. The adaptive locking device as described in claim 1 or 4, characterized in that, The lead screw is a single-ended trapezoidal lead screw.

7. The adaptive locking device as described in claim 1, characterized in that, The synchronous drive mechanism is mounted on the base assembly, which includes a guide rail. Two sliders are slidably mounted on the guide rail. Two end plates are mounted at both ends of the guide rail. The synchronous drive mechanism is mounted between the two end plates. A base plate is provided below the guide rail and the two end plates. The guide rail is fixedly connected to the base plate.

8. A rocket adaptive locking system, comprising a rocket and a wind-resistant and load-reducing device, wherein the wind-resistant and load-reducing device has a third opening slot for accommodating the rocket body, characterized in that, The windproof and load-reducing device locks the rocket body in the third opening slot through a plurality of adaptive locking devices as described in any one of claims 1-7. The contact plates of the plurality of adaptive locking devices are tightly attached to the outer surface of the rocket body around its circumference, and the other end of the plurality of adaptive locking devices is fixed to the third opening slot.

9. The rocket adaptive locking system as described in claim 8, characterized in that, The contact plates of the multiple adaptive locking devices are evenly distributed circumferentially on the outer surface of the rocket body.

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