Missile wing folding mechanism

Abstract

This invention belongs to the field of missile assembly equipment, specifically a missile wing folding mechanism, including a main frame and supporting rotating components, a front positioning component, a rear positioning component, a positioning sensor, a clamping component, a rudder wing actuating component, a missile wing actuating component, and a wing retraction component, all respectively mounted on the main frame. Through the coordinated arrangement of the supporting rotating components, the front positioning component, the rear positioning component, and the positioning sensor, this invention can position the product's attitude, ensuring consistency in attitude for each applicable product. Through the coordinated arrangement of the clamping component, the rudder wing actuating component, the missile wing actuating component, and the wing retraction component, it can simultaneously actuate the rudder wing and missile wing actuating switches based on precise positioning. This solves the problems of limited space and high operational difficulty associated with the rudder wing and missile wing actuating switches, avoids product damage, and features a compact layout, strong adaptability, and high work efficiency.

Description

Technical Field

[0001] This invention belongs to the field of missile assembly equipment, specifically a missile wing folding mechanism. Background Technology

[0002] Currently, during missile assembly, it is necessary to fold the assembled, deployed winglets. Folding requires pressing the corresponding toggle switch for each winglet individually. The toggle switches are located in confined spaces, making operation difficult and preventing simultaneous activation of all winglet switches. This can lead to situations where the toggle switches become stuck, fail to fully engage, or even damage the product during the folding process. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a missile wing folding mechanism.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A missile wing folding mechanism includes a main frame, a supporting rotation component, a front positioning component, a rear positioning component, a positioning sensor, a clamping component, a rudder wing actuation component, a missile wing actuation component, and a wing folding component.

[0006] The folding wing component includes a folding wing drive, a folding wing sliding plate, and a folding wing assembly. The folding wing drive is disposed at one end of the main frame along its length. The folding wing sliding plate is driven by the drive end of the folding wing drive and moves back and forth along the length of the main frame. The folding wing assembly is mounted on the folding wing sliding plate. During the movement of the folding wing sliding plate along the length of the main frame, the folding wing assembly folds the rudder wings after contacting the unfolded product's rudder wings and folds the projectile wings after contacting the unfolded product's projectile wings.

[0007] The front positioning component is located at the other end of the main frame along its length, and the rear positioning component is located on the main frame near the wing-retracting drive component. The front and rear positioning components are used to perform axial positioning of the product.

[0008] The supporting rotating component is disposed on the main frame between the front positioning component and the rear positioning component, and is divided into a fixed supporting rotating assembly and at least one set of lifting supporting assemblies. The fixed supporting rotating assembly is located on the main frame away from the rear positioning component. Each set of lifting supporting assemblies is disposed on the inner side of the main frame between the fixed supporting rotating assembly and the rear positioning component. Before the wing-folding action, the supporting rotating component and each set of lifting supporting assemblies are used together to support the product. The supporting rotating component drives the product to rotate around the product's axis and adjust its position on the supporting rotating component and each set of lifting supporting assemblies. Each set of lifting supporting assemblies descends when the wing-folding sliding plate is driven by the wing-folding drive component and approaches the lifting supporting assembly, thus making room for the movement of the wing-folding sliding plate.

[0009] Both the clamping component and the positioning sensor are mounted on the main frame between the fixed support rotating assembly and an adjacent set of lifting support assemblies. The positioning sensor is used to detect the positioning accuracy of the product, and the clamping component is used to clamp and fix the product to be retracted after the product has been positioned. After the product has been clamped and fixed by the clamping component, the axial centerline of the product is parallel to the length direction of the main frame.

[0010] The rudder toggle component is divided into two groups of rudder toggle assemblies symmetrically arranged on both sides of the main frame along its length. All groups of rudder toggle assemblies are used to simultaneously toggle or move away from the rudder toggle switch of the product.

[0011] The wing toggle component is divided into two groups of symmetrically arranged on both sides of the main frame along its length. All groups of the wing toggle components are used to simultaneously toggle or move away from the wing toggle switch of the product.

[0012] The rudder actuation component is located on the side closer to the wing retraction drive component than the warp wing actuation component.

[0013] The fixed support rotating assembly includes a fixed support rotating assembly base plate, a rotating drive unit, a support wheel frame A, and a support roller A;

[0014] The fixed support rotating component base plate is mounted on the main frame. The rotating drive unit and the support wheel frame A are respectively mounted on the fixed support rotating component base plate. The rotating drive unit is located on the side closer to the front positioning component, and the support wheel frame A is located on the side away from the front positioning component. The support wheel frame A is provided with two support rollers A. The two support rollers A are symmetrically arranged on both sides of the product to be retracted. The drive end of the rotating drive unit is connected to the wheel axle of the two support rollers A through a transmission structure and simultaneously drives the two support rollers A to rotate in the same direction.

[0015] Each of the lifting support components includes a lifting cylinder A, a support wheel frame B, and a support roller B;

[0016] The outer shell of the lifting cylinder A of each group of lifting support components is installed on the inner side of the main frame. The drive end of the lifting cylinder A of each group of lifting support components is vertically upward and connected to the support wheel frame B of the same group of lifting support components. Each group of lifting support components has two support rollers B on the support wheel frame B. The two support rollers B of the same group of lifting support components are symmetrically arranged on both sides of the product to be retracted.

[0017] The front positioning component includes a front positioning cylinder mounting base, a front positioning cylinder, and a front positioning block. The front positioning cylinder mounting base is mounted on the other end of the main frame along its length. The front positioning cylinder is mounted on the front positioning cylinder mounting base. The front positioning block is mounted on the drive end of the front positioning cylinder and faces the direction of the rear positioning component.

[0018] The rear positioning component includes a rear positioning component base, a lifting cylinder B, a lifting plate, a rear positioning cylinder A, a rear positioning plate mounting base, a rear positioning plate, a rear positioning cylinder B, a rear positioning fork block mounting base, and a rear positioning fork block.

[0019] The rear positioning component base is mounted on the main frame. The outer shell of the lifting cylinder B is mounted on the rear positioning component base. The drive end of the lifting cylinder B faces vertically upward and is connected to the lifting plate. The outer shell of the rear positioning cylinder A is mounted on the lifting plate. The rear positioning disk mounting seat is mounted on the drive end of the rear positioning cylinder A. The rear positioning disk is rotatably mounted on the rear positioning disk mounting seat and faces the direction of the front positioning component. The axial center line of the drive end of the rear positioning cylinder A is collinear with the axial center line of the rotating shaft of the rear positioning disk.

[0020] Two rear positioning cylinders B are provided and symmetrically installed on the lifting plates on both sides of the rear positioning cylinder A. Each rear positioning cylinder B has a rear positioning fork block mounting seat installed at its drive end. Each rear positioning fork block mounting seat has a rear positioning fork block at a position corresponding to the rudder wing of the product after positioning. Each rear positioning fork block has a positioning fork opening for inserting the rudder wing of the product. The axial center line of the drive end of each rear positioning cylinder B and the axial center line of the drive end of the rear positioning cylinder A are parallel to the length direction of the main frame.

[0021] The clamping component includes a gripper support, a gripper opening and closing cylinder, and two symmetrically arranged V-groove gripper blocks. The gripper support is mounted on the main frame, and the gripper opening and closing cylinder is mounted on the gripper support. The gripper opening and closing cylinder has two clamping ends, which are symmetrically located on both sides of the product to be retracted. Each clamping end of the gripper opening and closing cylinder is provided with one of the V-groove gripper blocks.

[0022] The positioning sensor is located on the lower side of the gripper opening and closing cylinder.

[0023] Each set of rudder wing actuation components includes a rudder wing actuation component base, a horizontal moving cylinder A, a horizontal sliding plate A, a vertical mounting bracket A, a rudder wing actuation linear cylinder mounting seat, a rudder wing actuation linear cylinder, a linear bearing mounting block A, a rudder wing finger connecting rod, and a rudder wing finger.

[0024] Each set of rudder actuation assembly bases is mounted on the side of the main frame. The housing of the horizontal movement cylinder A of each set of rudder actuation assemblies is mounted on the rudder actuation assembly base of the same set. The drive end of the horizontal movement cylinder A of each set of rudder actuation assemblies is connected to the horizontal sliding plate A of the same set of rudder actuation assemblies, and drives the connected horizontal sliding plate A to move horizontally in a direction perpendicular to the length of the main frame. The vertical mounting bracket A of each set of rudder actuation assemblies is mounted on the horizontal sliding plate A of the same set of rudder actuation assemblies. The rudder of the positioned product is mounted on the vertical mounting bracket A of each set of rudder actuation assemblies. Correspondingly, each position is provided with a mounting seat for the rudder wing toggle linear cylinder. Each mounting seat for the rudder wing toggle linear cylinder is respectively equipped with a rudder wing toggle linear cylinder and a linear bearing mounting block A. Each linear bearing mounting block A is equipped with a linear bearing A. The drive end of each rudder wing toggle linear cylinder is connected to one end of a corresponding rudder wing toggle connecting rod. The other end of each rudder wing toggle connecting rod passes through an adjacent linear bearing A and is connected to one end of a corresponding rudder wing toggle. The other end of each rudder wing toggle is used to directly contact a corresponding rudder wing toggle switch on the product.

[0025] Each of the aforementioned wing actuation components includes a wing actuation component base, a horizontal moving cylinder B, a horizontal sliding plate B, a vertical mounting bracket B, a wing actuation linear cylinder mounting seat, a wing actuation linear cylinder, a linear bearing mounting block B, a wing actuation finger connecting rod, and a wing actuation finger.

[0026] Each set of wing-operated actuation components has its wing-operated actuation component base mounted on the side of the main frame. The housing of the horizontal movement cylinder B of each set of wing-operated actuation components is mounted on the wing-operated actuation component base of the same set. The drive end of the horizontal movement cylinder B of each set of wing-operated actuation components is connected to the horizontal sliding plate B of the same set of wing-operated actuation components, and drives the connected horizontal sliding plate B to move horizontally in a direction perpendicular to the length of the main frame. The vertical mounting frame B of each set of wing-operated actuation components is mounted on the horizontal sliding plate B of the same set of wing-operated actuation components. The wing of the positioned product is mounted on the vertical mounting frame B of each set of wing-operated actuation components. Correspondingly, each position is provided with a mounting seat for the wing-operated linear cylinder. Each mounting seat for the wing-operated linear cylinder is equipped with a wing-operated linear cylinder and a linear bearing mounting block B. Each linear bearing mounting block B is equipped with a linear bearing B. The drive end of each wing-operated linear cylinder is connected to one end of a corresponding wing-operated finger connecting rod. The other end of each wing-operated finger connecting rod passes through an adjacent linear bearing B and is connected to one end of a corresponding wing-operated finger. The other end of each wing-operated finger is used to directly contact a corresponding wing-operated switch on the product.

[0027] A lead screw is installed on the inner side of the main frame, and several guide rails A are also installed on the main frame. The axial center line of the lead screw and the length direction of each guide rail A are parallel to the length direction of the main frame. A lead screw nut that is threadedly connected to the lead screw is installed on the wing-retracting sliding plate. A slider A is also installed on the wing-retracting sliding plate at a position corresponding to each guide rail A. Each slider A is slidably connected to the corresponding guide rail A. The lead screw is connected to the driving end of the wing-retracting drive component.

[0028] The wing-folding assembly includes a pressure sensor mounting base, a pressure sensor, a wing-folding ring support, a guide rail B, a wing-folding ring mounting plate, a wing-folding ring, a wing-folding cylinder, and a wing-folding block.

[0029] The pressure sensor mounting base is installed on the folding wing sliding plate, the folding wing ring support is located above the folding wing sliding plate, the pressure sensor is connected between the folding wing ring support and the pressure sensor mounting base, the folding wing sliding plate is provided with a plurality of guide rails B, and the folding wing ring support is respectively installed with a slider B at a position corresponding to each guide rail B, each slider B is slidably connected to the corresponding guide rail B, and the axial center line of the pressure sensor and the length direction of each guide rail B are parallel to the length direction of the main frame;

[0030] The wing-retracting ring support has an annular mounting portion, the wing-retracting ring mounting plate is mounted on the annular mounting portion of the wing-retracting ring support, and the wing-retracting ring is mounted on the wing-retracting ring mounting plate. Circular product passage openings are formed inside the annular mounting portion of the wing-retracting ring support, inside the wing-retracting ring mounting plate, and on the inner side of the wing-retracting ring. The axial center lines of the product passage openings on the annular mounting portion of the wing-retracting ring support, the wing-retracting ring mounting plate, and the wing-retracting ring are all collinear with the axial center line of the product after positioning. A plurality of wing-retracting cylinders are evenly arranged in a circumferential direction on the wing-retracting ring mounting plate on the outer side of the wing-retracting ring. The drive end of each wing-retracting cylinder is located in the product passage opening of the wing-retracting ring and is correspondingly connected to a wing-retracting block. The position of each wing-retracting block corresponds simultaneously to a rudder wing and a projectile wing on the product.

[0031] The advantages and positive effects of this invention are as follows:

[0032] 1. This invention, through the coordinated arrangement of a supporting rotating component, a front positioning component, a rear positioning component, and a positioning sensor, can position the product's posture, ensuring the consistency of the product's posture for each application.

[0033] 2. By coordinating the clamping component, the rudder wing actuation component, the missile wing actuation component, and the wing retraction component, this invention can simultaneously actuate the rudder wing actuation switches and the missile wing actuation switches at various locations based on precise positioning. This solves the problems of limited space and high operation difficulty in the location of the rudder wing actuation switches and the missile wing actuation switches, avoids damage to the product, has a compact layout, strong adaptability, and high work efficiency. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the product to which this invention applies before the rudder wings and missile wings are folded down;

[0035] Figure 2 This is a schematic diagram of the structure of the product to which this invention applies after the rudder wings and missile wings are folded down;

[0036] Figure 3 This is one of the overall three-dimensional structural schematic diagrams of the present invention;

[0037] Figure 4 This is a second three-dimensional structural schematic diagram of the present invention;

[0038] Figure 5 This is a top view of the overall structure of the present invention;

[0039] Figure 6 This is a schematic diagram of the fixed support rotating assembly and the front positioning component of the present invention.

[0040] Figure 7 for Figure 4 Enlarged view of point A;

[0041] Figure 8 This is a schematic diagram of the arrangement structure of the rear positioning component of the present invention;

[0042] Figure 9 for Figure 4 Enlarged view of point B;

[0043] Figure 10 This is a schematic diagram of the clamping component and positioning sensor arrangement structure of the present invention;

[0044] Figure 11 This is a schematic diagram of the arrangement structure of one set of rudder wing actuation components of the present invention;

[0045] Figure 12 This is a schematic diagram of the arrangement structure of one set of wing-operated components of the present invention;

[0046] Figure 13 This is a schematic diagram of the arrangement structure of the wing-retracting assembly of the present invention.

[0047] In the diagram: 1 is the main frame, 2 is the positioning sensor, 3 is the wing retraction drive component, 4 is the wing retraction sliding plate, 5 is the fixed support rotating component base plate, 6 is the rotating drive unit, 7 is the support wheel frame A, 8 is the support roller A, 9 is the lifting cylinder A, 10 is the support wheel frame B, 11 is the support roller B, 12 is the front positioning cylinder mounting seat, 13 is the front positioning cylinder, 14 is the front positioning block, 15 is the rear positioning component base, 16 is the lifting cylinder B, 17 is the lifting plate, 18 is the rear positioning cylinder A, 19 is the rear positioning plate mounting seat, 20 is the rear positioning plate, 21 is the rear positioning cylinder B, 22 is the rear positioning fork block mounting seat, 23 is the rear positioning fork block, 2301 is the positioning fork opening, 24 is the gripper support seat, 25 is the gripper opening and closing cylinder, 26 is the V-groove gripper block, 27 is the rudder wing actuation component base, 28 is the horizontal movement cylinder A, and 29 is the horizontal sliding plate A. 30 is vertical mounting bracket A; 31 is rudder wing actuation linear cylinder mounting seat; 32 is rudder wing actuation linear cylinder; 33 is linear bearing mounting block A; 34 is rudder wing finger connecting rod; 35 is rudder wing finger; 36 is missile wing actuation assembly base; 37 is horizontal moving cylinder B; 38 is horizontal sliding plate B; 39 is vertical mounting bracket B; 40 is missile wing actuation linear cylinder mounting seat; 41 is missile wing actuation linear cylinder; 42 is... Linear bearing mounting block B, 43 is the wing finger connecting rod, 44 is the wing finger, 45 is the lead screw, 46 is the guide rail A, 47 is the pressure sensor mounting base, 48 is the pressure sensor, 49 is the wing-retracting ring support, 50 is the guide rail B, 51 is the wing-retracting ring mounting plate, 52 is the wing-retracting ring, 53 is the wing-retracting cylinder, 54 is the wing-retracting block, 55 is the leather pad, 56 is the rotary drive unit mounting bracket, and 57 is the positioning sensor mounting plate;

[0048] 001 represents the product, 0011 represents the rudder, and 0012 represents the missile wing. Detailed Implementation

[0049] The following is in conjunction with the appendix Figure 1-13 The present invention will be described in further detail below.

[0050] The structural diagrams of the product 001 to which this invention applies, before and after the rudder wing 0011 and the missile wing 0012 are folded, are shown below. Figure 1 and Figure 2 As shown, the device has four rudder wings 0011 evenly distributed at 90-degree angles around the circumference and four missile wings 0012 evenly distributed around the circumference. Each rudder wing 0011 is aligned with a corresponding missile wing 0012. Before folding, the rudder wing 0011 requires pressing its adjacent rudder wing toggle switch. The toggle switch can be released during the folding process as the rudder wing 0011 rotates into its corresponding rudder wing storage slot inside the product 001. Similarly, before folding, the missile wing 0012 requires pressing its adjacent missile wing toggle switch. The toggle switch can be released during the folding process as the missile wing 0012 rotates closer to the outer surface of the product 001.

[0051] This invention discloses a missile wing folding mechanism, such as... Figure 3-13 As shown, this embodiment includes a main frame 1, a support rotation component, a front positioning component, a rear positioning component, a positioning sensor 2, a clamping component, a rudder wing actuation component, a missile wing actuation component, and a wing retraction component.

[0052] The wing-folding component includes a wing-folding drive unit 3, a wing-folding sliding plate 4, and a wing-folding assembly. The wing-folding drive unit 3 is located at one end of the main frame 1 along its length. The wing-folding sliding plate 4 is driven by the drive end of the wing-folding drive unit 3 and moves back and forth along the length of the main frame 1. The wing-folding assembly is mounted on the wing-folding sliding plate 4. During the movement of the wing-folding sliding plate 4 along the length of the main frame 1, the wing-folding assembly folds the rudder 0011 after contacting the unfolded product 001, and folds the missile 0012 after contacting the unfolded product 001. In this embodiment, the wing-folding drive unit 3 uses a conventional motor reducer assembly, and its operation is controlled by an external controller; the mounting structure of the wing-folding drive unit 3 is also conventional.

[0053] The front positioning component is located at the other end of the main frame 1 along its length, and the rear positioning component is located on the side of the main frame 1 near the wing-retracting drive component 3. The front and rear positioning components are used to perform axial positioning of product 001.

[0054] The supporting rotating component is mounted on the main frame 1 between the front positioning component and the rear positioning component, and is divided into a fixed supporting rotating assembly and two sets of lifting supporting assemblies. The fixed supporting rotating assembly is located on the side of the main frame 1 away from the rear positioning component, and each set of lifting supporting assemblies is located on the inner side of the main frame 1 between the fixed supporting rotating assembly and the rear positioning component. Before the wing-folding action, the supporting rotating component and each set of lifting supporting assemblies are used together to support the product 001. The fixed supporting rotating assembly supports the front of the product 001, one set of lifting supporting assemblies supports the middle of the product 001, and the other set of lifting supporting assemblies supports the rear of the product 001. The supporting rotating component drives the product 001 to rotate around the axis of the product 001 on the supporting rotating component and each set of lifting supporting assemblies and adjusts its position. Each set of lifting supporting assemblies descends when the wing-folding sliding plate 4 is driven by the wing-folding drive component 3 and approaches the lifting supporting assembly, thus making room for the movement of the wing-folding sliding plate 4.

[0055] Both the clamping component and the positioning sensor 2 are mounted on the main frame 1 between the fixed support rotating assembly and an adjacent set of lifting support assemblies. The positioning sensor 2 is used to detect the positioning accuracy of product 001, and the clamping component is used to clamp and fix product 001 after it has been positioned. After the clamping component clamps and fixes product 001 after it has been positioned, the axial centerline of product 001 is parallel to the length direction of the main frame 1.

[0056] The rudder wing toggle component is divided into two groups of rudder wing toggle assemblies symmetrically arranged on both sides of the main frame 1 along its length. All groups of rudder wing toggle assemblies are used to simultaneously toggle or move away from the rudder wing toggle switch of product 001.

[0057] The wing toggle component is divided into two groups of symmetrically arranged on both sides of the main frame 1 along its length. All groups of wing toggle components are used to simultaneously toggle or move away from the wing toggle switch of product 001.

[0058] The rudder wing actuation component is located on the side closer to the wing retraction drive component 3 than the missile wing actuation component.

[0059] Specifically, such as Figure 3-6 As shown, in this embodiment, the fixed support rotation assembly includes a fixed support rotation assembly base plate 5, a rotation drive unit 6, a support wheel frame A 7, and a support roller A 8.

[0060] A fixed support rotating component base plate 5 is mounted on the main frame 1. A rotating drive unit 6 and a support wheel frame A7 are respectively mounted on the fixed support rotating component base plate 5. The rotating drive unit 6 is located on the side closer to the front positioning component, and the support wheel frame A7 is located on the side farther from the front positioning component. The support wheel frame A7 has two support rollers A8, which are symmetrically arranged on both sides of the product 001 to be retracted. The drive end of the rotating drive unit 6 is connected to the axles of the two support rollers A8 through a transmission structure, simultaneously driving the two support rollers A8 to rotate in the same direction. In this embodiment, the rotating drive unit 6 is mounted on the fixed support rotating component base plate 5 via a rotating drive unit mounting bracket 56 and screws. The rotating drive unit 6 uses a conventional motor reducer assembly, and its operation is controlled by an external controller. In this embodiment, the transmission structure uses a conventional synchronous belt transmission structure, which allows the rotating drive unit 6 to accurately and synchronously drive the two support rollers A8 to rotate. The friction generated by the two support rollers A8 drives the supported product 001 to rotate. During the rotation of product 001, positioning sensor 2 fully detects the positioning accuracy of product 001.

[0061] Specifically, such as Figure 4 and Figure 7 As shown, each lifting support assembly in this embodiment includes a lifting cylinder A9, a support wheel frame B10, and support rollers B11. In this embodiment, the lifting cylinder A9 is a commercially available product and its operation is controlled by an external controller.

[0062] The housing of the lifting cylinder A9 of each lifting support assembly is installed inside the main frame 1. The drive end of the lifting cylinder A9 of each lifting support assembly is vertically upward and connected to the support wheel frame B10 of the same lifting support assembly. Each support wheel frame B10 of the lifting support assembly is provided with two support rollers B11. The two support rollers B11 of the same lifting support assembly are symmetrically arranged on both sides of the product 001 to be retracted. In this embodiment, the lower surface of the support wheel frame B10 of each lifting support assembly is also connected to one end of several guide shafts A. The other end of each guide shaft A passes through the corresponding linear bearing C provided on the main frame 1. The axial center line of the drive end of the lifting cylinder A9 and the axial center lines of all guide shafts A are perpendicular to the horizontal plane. The stable lifting and lowering of the support wheel frame B10 is ensured by the cooperation of the guide shafts A and the linear bearings C.

[0063] Specifically, such as Figure 3-6As shown, in this embodiment, the front positioning component includes a front positioning cylinder mounting base 12, a front positioning cylinder 13, and a front positioning block 14. The front positioning cylinder mounting base 12 is mounted on the other end of the main frame 1 along its length. The front positioning cylinder 13 is mounted on the front positioning cylinder mounting base 12. The front positioning block 14 is mounted on the drive end of the front positioning cylinder 13 and faces the direction of the rear positioning component. The front positioning block 14 is used to directly contact the front end of the product 001. In this embodiment, the front positioning cylinder 13 is a commercially available product, and its operation is controlled by an external controller.

[0064] Specifically, such as Figure 3-5 , Figure 8 and Figure 9 As shown, in this embodiment, the rear positioning component includes a rear positioning component base 15, a lifting cylinder B16, a lifting plate 17, a rear positioning cylinder A18, a rear positioning plate mounting base 19, a rear positioning plate 20, a rear positioning cylinder B21, a rear positioning fork block mounting base 22, and a rear positioning fork block 23. In this embodiment, the lifting cylinder B16, the rear positioning cylinder A18, and the rear positioning cylinder B21 are all commercially available products, and their operation is controlled by an external controller.

[0065] The rear positioning component base 15 is mounted on the main frame 1. The housing of the lifting cylinder B16 is mounted on the rear positioning component base 15. The drive end of the lifting cylinder B16 faces vertically upward and is connected to the lifting plate 17. The housing of the rear positioning cylinder A18 is mounted on the lifting plate 17. The rear positioning plate mounting seat 19 is mounted on the drive end of the rear positioning cylinder A18. The rear positioning plate 20 is rotatably mounted on the rear positioning plate mounting seat 19 via bearings and faces the direction of the front positioning component. The axial center line of the drive end of the rear positioning cylinder A18 is collinear with the axial center line of the rotating shaft of the rear positioning plate 20. The rear positioning plate 20 is used to directly contact the rear end of product 001. In this embodiment, the lower surface of the lifting plate 17 is also connected to one end of several guide shafts B. The other end of each guide shaft B passes through the corresponding linear bearing D on the rear positioning component base 15. The axial center line of the drive end of the lifting cylinder B16 and the axial center lines of all guide shafts B are perpendicular to the horizontal plane. The guide shaft B and linear bearing D are used in combination to ensure the stable lifting of the lifting plate 17.

[0066] Two rear positioning cylinders B 21 are provided and are symmetrically installed on the lifting plates 17 on both sides of the rear positioning cylinder A18. Each rear positioning cylinder B 21 has a rear positioning fork block mounting seat 22 installed at its drive end. Each rear positioning fork block mounting seat 22 faces the direction of the front positioning component. Each rear positioning fork block mounting seat 22 has a rear positioning fork block 23 at a position corresponding to the rudder 0011 of the product 001 after positioning. Each rear positioning fork block 23 has a positioning fork opening 2301 for inserting the rudder 0011 of the product 001. The axial center line of the drive end of each rear positioning cylinder B 21 and the axial center line of the drive end of the rear positioning cylinder A18 are parallel to the length direction of the main frame 1.

[0067] Specifically, such as Figure 3-5 and Figure 10 As shown, in this embodiment, the clamping component includes a gripper support 24, a gripper opening / closing cylinder 25, and two symmetrically arranged V-groove gripper blocks 26. The gripper support 24 is mounted on the main frame 1, and the gripper opening / closing cylinder 25 is mounted on the gripper support 24. The gripper opening / closing cylinder 25 has two clamping ends, which are symmetrically located on both sides of the product 001 to be retracted. Each clamping end of the gripper opening / closing cylinder 25 is provided with a V-groove gripper block 26, and the V-groove surfaces of the two V-groove gripper blocks 26 face the product 001 to be retracted. In this embodiment, the V-groove surfaces of the V-groove gripper blocks 26 are provided with leather pads 55 to increase friction and prevent wear on the product 001. In this embodiment, the gripper opening / closing cylinder 25 uses a commercially available pneumatic gripper product or a double-acting cylinder product, and its operation is controlled by an external controller.

[0068] Positioning sensor 2 is located below gripper opening and closing cylinder 25. In this embodiment, positioning sensor 2 is fixedly connected to gripper support 24 via positioning sensor mounting plate 57; positioning sensor 2 is a commercially available swing sensor and is connected to an external controller.

[0069] Specifically, such as Figure 3-5 and Figure 11 As shown, in this embodiment, each rudder actuation assembly includes a rudder actuation assembly base 27, a horizontal moving cylinder A 28, a horizontal sliding plate A 29, a vertical mounting bracket A 30, a rudder actuation linear cylinder mounting seat 31, a rudder actuation linear cylinder 32, a linear bearing mounting block A 33, a rudder actuation finger connecting rod 34, and a rudder actuation finger 35. In this embodiment, the horizontal moving cylinder A 28 is a commercially available rodless linear cylinder, and the rudder actuation linear cylinder 32 is also a commercially available cylinder, both controlled by an external controller.

[0070] Each set of rudder actuation assembly base 27 is mounted on the side of the main frame 1. The outer shell of the horizontal movement cylinder A 28 of each set of rudder actuation assembly is mounted on the rudder actuation assembly base 27 of the same set of rudder actuation assembly. The drive end of the horizontal movement cylinder A 28 of each set of rudder actuation assembly is connected to the horizontal sliding plate A 29 of the same set of rudder actuation assembly, and drives the connected horizontal sliding plate A 29 to move horizontally in a direction perpendicular to the length of the main frame 1. In this embodiment, a guide rail slider structure is also connected between the horizontal sliding plate A 29 of each set of rudder actuation assembly and the rudder actuation assembly base 27 of the same set of rudder actuation assembly to ensure accurate linear movement of the horizontal sliding plate A 29. Each set of vertical mounting brackets A 30 for the rudder wing actuation assembly is mounted on the horizontal sliding plate A 29 of the same set of rudder wing actuation assembly. Each set of vertical mounting brackets A 30 for the rudder wing actuation assembly has a rudder wing actuation linear cylinder mounting seat 31 at a position corresponding to the rudder wing 0011 of the positioned product 001. Each rudder wing actuation linear cylinder mounting seat 31 is equipped with a rudder wing actuation linear cylinder 32 and a linear bearing mounting block A 33. Each linear bearing mounting block A 33 is equipped with a linear bearing A. The drive end of each rudder wing actuation linear cylinder 32 is threadedly connected to one end of a corresponding rudder wing finger connecting rod 34. The other end of each rudder wing finger connecting rod 34 passes through an adjacent linear bearing A and is connected to one end of a corresponding rudder wing finger 35. The other end of each rudder wing finger 35 is used to directly contact a corresponding rudder wing actuation switch on the product 001. The linear bearing A and the connecting rod 34 of the rudder wing finger are used to ensure accurate extension and retraction of the rudder wing finger 35. In this embodiment, the two rudder wing actuation linear cylinders 32 of the same rudder wing actuation assembly are arranged symmetrically above and below each other, and are tilted according to usage requirements. The installation angle is determined by the rudder wing actuation switch pointed to by each rudder wing finger 35.

[0071] Specifically, such as Figure 3-5 and Figure 12 As shown, each wing-operated assembly in this embodiment includes a wing-operated assembly base 36, a horizontal moving cylinder B 37, a horizontal sliding plate B 38, a vertical mounting bracket B 39, a wing-operated linear cylinder mounting seat 40, a wing-operated linear cylinder 41, a linear bearing mounting block B 42, a wing-operated finger connecting rod 43, and a wing-operated finger 44. In this embodiment, the horizontal moving cylinder B 37 is a commercially available rodless linear cylinder, and the wing-operated linear cylinder 41 is also a commercially available cylinder, both controlled by an external controller.

[0072] Each wing-operated assembly base 36 is mounted on the side of the main frame 1. The housing of the horizontal movement cylinder B 37 of each wing-operated assembly is mounted on the wing-operated assembly base 36 of the same wing-operated assembly. The drive end of the horizontal movement cylinder B 37 of each wing-operated assembly is connected to the horizontal sliding plate B 38 of the same wing-operated assembly, and drives the connected horizontal sliding plate B 38 to move horizontally in a direction perpendicular to the length of the main frame 1. In this embodiment, a guide rail slider structure is also connected between the horizontal sliding plate B 38 of each wing-operated assembly and the wing-operated assembly base 36 of the same wing-operated assembly to ensure accurate linear movement of the horizontal sliding plate B 38. Each vertical mounting bracket B 39 of the wing-operated assembly is mounted on the horizontal sliding plate B 38 of the same wing-operated assembly. Each vertical mounting bracket B 39 of the wing-operated assembly has a wing-operated linear cylinder mounting seat 40 at a position corresponding to the wing 0012 of the positioned product 001. Each wing-operated linear cylinder mounting seat 40 is equipped with a wing-operated linear cylinder 41 and a linear bearing mounting block B 42. Each linear bearing mounting block B 42 is equipped with a linear bearing B. The drive end of each wing-operated linear cylinder 41 is threadedly connected to one end of a corresponding wing-operated finger connecting rod 43. The other end of each wing-operated finger connecting rod 43 passes through an adjacent linear bearing B and is connected to one end of a corresponding wing-operated finger 44. The other end of each wing-operated finger 44 is used to directly contact a corresponding wing-operated switch on the product 001. The precise extension and retraction of the wing lever 44 is achieved through the coordinated arrangement of the linear bearing B and the wing lever connecting rod 43. In this embodiment, the two wing lever linear cylinders 41 of the same wing lever assembly are arranged symmetrically vertically, and the axial center lines of the drive ends of all wing lever linear cylinders 41 are parallel to the horizontal plane. They can also be tilted according to usage requirements, and the installation angle is determined by the wing lever switch pointed to by each wing lever 44.

[0073] Specifically, such as Figure 3-5As shown, in this embodiment, a lead screw 45 is installed on the inner side of the main frame 1. Two guide rails A 46 are also installed on the main frame 1. The axial center line of the lead screw 45 and the length direction of each guide rail A 46 are parallel to the length direction of the main frame 1. A lead screw nut threadedly connected to the lead screw 45 is installed on the folding wing sliding plate 4. A slider A is also installed on the folding wing sliding plate 4 at a position corresponding to each guide rail A 46. Each slider A is slidably connected to its corresponding guide rail A 46. The lead screw 45 is connected to the driving end of the folding wing drive component 3. The driving end of the folding wing drive component 3 controls the movement of the folding wing sliding plate 4 by rotating the lead screw 45. In this embodiment, the lead screw 45 is offset to one side of the inner side of the main frame 1 to avoid affecting the operation of the lifting support assembly. Through the coordinated arrangement of the guide rails A 46 and the sliders A, the folding wing sliding plate 4 moves accurately.

[0074] Specifically, such as Figure 3-5 and Figure 13 As shown, the wing-retracting assembly in this embodiment includes a pressure sensor mounting base 47, a pressure sensor 48, a wing-retracting ring support 49, a guide rail B 50, a wing-retracting ring mounting plate 51, a wing-retracting ring 52, a wing-retracting cylinder 53, and a wing-retracting block 54. In this embodiment, the pressure sensor 48 is a commercially available product, connected to an external controller, and its mounting structure is also existing technology. By setting the pressure sensor 48, the resistance experienced by the wing-retracting ring support 49 during wing retraction can be measured in real time. If the resistance exceeds the tolerance, a signal can be sent to the external controller to immediately stop wing retraction, preventing damage to product 001. In this embodiment, each wing-retracting cylinder 53 is also a commercially available product, controlled simultaneously by the external controller.

[0075] The pressure sensor mounting base 47 is installed on the wing-retracting sliding plate 4. The wing-retracting ring support 49 is located above the wing-retracting sliding plate 4. A pressure sensor 48 is connected between the wing-retracting ring support 49 and the pressure sensor mounting base 47. The wing-retracting sliding plate 4 is provided with two guide rails B 50. A slider B is installed on the wing-retracting ring support 49 at a position corresponding to each guide rail B 50. Each slider B is slidably connected to the corresponding guide rail B 50. The axial center line of the pressure sensor 48 and the length direction of each guide rail B 50 are parallel to the length direction of the main frame 1.

[0076] A ring-shaped mounting portion is formed on the wing-shaped ring support 49. A wing-shaped ring mounting plate 51 is mounted on the ring-shaped mounting portion of the wing-shaped ring support 49, and a wing-shaped ring 52 is mounted on the wing-shaped ring mounting plate 51. Circular product passage openings are formed inside the ring-shaped mounting portion of the wing-shaped ring support 49, inside the wing-shaped ring mounting plate 51, and on the inner side of the wing-shaped ring 52. The axial centerline of the product passage opening on the ring-shaped mounting portion of the wing-shaped ring support 49, the axial centerline of the product passage opening on the wing-shaped ring mounting plate 51, and the wing-shaped ring 52... The axial centerline of the product through-hole is collinear with the axial centerline of the product 001 after positioning. Four wing-retracting cylinders 53 are evenly distributed at 90-degree angles along the circumference on the wing-retracting ring mounting plate 51 outside the wing-retracting ring 52. The drive end of each wing-retracting cylinder 53 is located in the product through-hole of the wing-retracting ring 52 and is correspondingly connected to a wing-retracting block 54. The position of each wing-retracting block 54 corresponds simultaneously to a rudder 0011 and a missile 0012 on the product 001. In this embodiment, each wing-retracting block 54 has an inclined surface for direct contact with the rudder 0011 or missile 0012, reliably and safely resisting and driving the rudder 0011 or missile 0012 to rotate and fold.

[0077] Working principle:

[0078] During operation, each lifting cylinder A9 drives the support wheel frame B10 to the highest position, moving the product 001 to be folded onto the supporting rotating component and each set of lifting support components. Before the folding action is performed, the supporting rotating component and each set of lifting support components work together to support the product 001.

[0079] Lifting cylinder B16 drives lifting plate 17 to the highest position, causing the drive end of front positioning cylinder 13 and the drive end of rear positioning cylinder A18 to extend respectively. Front positioning block 14 directly contacts the front end of product 001, and rear positioning disk 20 directly contacts the rear end of product 001, thereby achieving axial positioning of product 001.

[0080] The control rotation drive unit 6 operates to drive product 001 to rotate around the axis of product 001 on the supporting rotating parts and each set of lifting support components and adjust its position. During the rotation of product 001, the positioning sensor 2 fully detects the positioning accuracy of product 001 to ensure that product 001 meets the predetermined positioning accuracy requirements.

[0081] Once the positioning sensor 2 completes the positioning accuracy detection of product 001 and determines that product 001 meets the predetermined positioning accuracy requirements, it controls the gripper opening and closing cylinder 25 to clamp and fix product 001 after positioning. Then, the drive end of the rear positioning cylinder A18 retracts, the rear positioning disk 20 disengages from the rear end of product 001, and the drive ends of the two rear positioning cylinders B21 extend simultaneously. Each rear positioning fork block 23 holds the corresponding rudder wing 0011 of product 001 through the positioning fork opening 2301 to prevent product 001 from rotating when the rudder wing toggle switch and the ejector wing toggle switch are pressed.

[0082] The horizontal moving cylinders A 28 are controlled to move the connected horizontal sliding plates A 29 towards the product 001. The drive ends of the rudder wing actuation linear cylinders 32 are extended, so that the other ends of the rudder wing fingers 35 simultaneously contact and press the corresponding rudder wing actuation switches. The horizontal moving cylinders B 37 are controlled to move the connected horizontal sliding plates B 38 towards the product 001. The drive ends of the wing actuation linear cylinders 41 are extended, so that the other ends of the wing actuation fingers 44 simultaneously contact and press the corresponding wing actuation switches. The rudder wing actuation switches and the wing actuation switches remain pressed, and the drive ends of the two rear positioning cylinders B 21 are retracted. The rear positioning forks 23 are disengaged from the rudder wing 0011. Then, the lifting cylinder B16 drives the lifting plate 17 to the lowest position to make room for the wing retracting sliding plate 4 to move towards the product 001.

[0083] The wing-folding drive 3 moves the wing-folding sliding plate 4 toward product 001, causing the wing-folding ring support 49, wing-folding ring mounting plate 51, and wing-folding ring 52 to pass around the outer periphery of product 001. Each set of lifting support components lowers and makes room for the movement of the wing-folding sliding plate 4 when the wing-folding sliding plate 4 is driven by the wing-folding drive 3 and approaches the lifting support component. During the movement of the wing-folding sliding plate 4, the drive end of the wing-folding cylinder 53 drives the wing-folding block 54 to contact the rudder wing 0011 or missile wing 0012, causing the rudder wing 0011 or missile wing 0012 to rotate and fold. Each wing-folding block of the wing-folding assembly... After contacting the rudder 0011 of the unfolded product, 54 starts to drive the rudder 001 to rotate and fold. The pressure sensor 48 detects a predetermined pressure value and sends a signal to the external controller. The external controller controls the rudder toggle component to retract to its original position to make room for the movement of the wing-folding sliding plate 4. After contacting the warp 0012 of the unfolded product, each wing-folding block 54 of the wing-folding assembly starts to drive the warp 0012 to rotate and fold. The pressure sensor 48 detects a predetermined pressure value and sends a signal to the external controller. The external controller controls the warp toggle component to retract to its original position to make room for the movement of the wing-folding sliding plate 4.

[0084] After each rudder 0011 is retracted into its corresponding rudder rudder storage slot, and each missile wing 0012 rotates and folds to stably adhere to the outer wall of product 001, the wing folding drive 3 is controlled to drive the wing folding sliding plate 4 back to its original position. Each lifting cylinder A 9 then drives the support wheel frame B 10 to rise to its highest position and support product 001. The front positioning cylinder 13 drives the front positioning block 14 back to its original position, and the clamping component releases product 001, completing the missile wing folding operation.

Claims

1. A missile wing folding mechanism, characterized in that: It includes the main frame (1), supporting rotating components, front positioning components, rear positioning components, positioning sensors (2), clamping components, rudder wing actuation components, missile wing actuation components, and wing retraction components; The folding component includes a folding drive (3), a folding sliding plate (4), and a folding assembly. The folding drive (3) is located at one end of the main frame (1) along its length. The folding sliding plate (4) is driven by the drive end of the folding drive (3) and moves back and forth along the length of the main frame (1). The folding assembly is installed on the folding sliding plate (4). During the movement of the folding sliding plate (4) along the length of the main frame (1), the folding assembly folds the rudder wings after contacting the rudder wings of the unfolded product and folds the projectile wings after contacting the projectile wings of the unfolded product. The front positioning component is located at the other end of the main frame (1) along its length, and the rear positioning component is located on the main frame (1) on the side near the wing-retracting drive component (3). The front positioning component and the rear positioning component are used to perform axial positioning of the product. The supporting rotating component is disposed on the main frame (1) between the front positioning component and the rear positioning component, and is divided into a fixed supporting rotating component and at least one set of lifting supporting components. The fixed supporting rotating component is located on the main frame (1) away from the rear positioning component. Each set of lifting supporting components is disposed on the inner side of the main frame (1) between the fixed supporting rotating component and the rear positioning component. The supporting rotating component and each set of lifting supporting components are used together to support the product before the wing retraction action is performed. The supporting rotating component drives the product to rotate around the product axis on the supporting rotating component and each set of lifting supporting components and adjust the position. Each set of lifting supporting components descends when the wing retraction sliding plate (4) is driven by the wing retraction drive component (3) and approaches the lifting supporting component, and makes room for the movement of the wing retraction sliding plate (4). The clamping component and the positioning sensor (2) are both located on the main frame (1) between the fixed support rotating assembly and a set of adjacent lifting support assemblies. The positioning sensor (2) is used to detect the positioning accuracy of the product. The clamping component is used to clamp and fix the product to be retracted after the product is positioned. After the clamping component clamps and fixes the product after it is positioned, the axial center line of the product is parallel to the length direction of the main frame (1). The rudder toggle component is divided into two groups of rudder toggle assemblies symmetrically arranged on both sides of the main frame (1) along the length direction. All groups of the rudder toggle assemblies are used to simultaneously toggle or move away from the rudder toggle switch of the product. The wing toggle component is divided into two groups of symmetrically arranged on both sides of the main frame (1) along the length direction. All groups of the wing toggle components are used to simultaneously toggle or move away from the wing toggle switch of the product. The rudder wing actuation component is located on the side closer to the wing retraction drive component (3) than the warp wing actuation component; Each of the rudder wing actuation assemblies includes a rudder wing actuation assembly base (27), a horizontal moving cylinder A (28), a horizontal sliding plate A (29), a vertical mounting bracket A (30), a rudder wing actuation linear cylinder mounting seat (31), a rudder wing actuation linear cylinder (32), a linear bearing mounting block A (33), a rudder wing finger connecting rod (34), and a rudder wing finger (35). The base (27) of each set of rudder actuation assemblies is mounted on the side of the main frame (1). The outer shell of the horizontal moving cylinder A (28) of each set of rudder actuation assemblies is mounted on the base (27) of the same set of rudder actuation assemblies. The driving end of the horizontal moving cylinder A (28) of each set of rudder actuation assemblies is connected to the horizontal sliding plate A (29) of the same set of rudder actuation assemblies and drives the connected horizontal sliding plate A (29) to move horizontally in a direction perpendicular to the length of the main frame (1). The vertical mounting bracket A (30) of each set of rudder actuation assemblies is mounted on the horizontal sliding plate A (29) of the same set of rudder actuation assemblies. The rudder of the product that has been positioned is mounted on the vertical mounting bracket A (30) of each set of rudder actuation assemblies. The wing is provided with a wing-moving linear cylinder mounting seat (31) at the corresponding position. Each wing-moving linear cylinder mounting seat (31) is provided with a wing-moving linear cylinder (32) and a linear bearing mounting block A (33). Each linear bearing mounting block A (33) is provided with a linear bearing A. Each wing-moving linear cylinder (32) is connected to one end of a corresponding wing-moving finger connecting rod (34). The other end of each wing-moving finger connecting rod (34) passes through an adjacent linear bearing A and is connected to one end of a corresponding wing-moving finger (35). The other end of each wing-moving finger (35) is used to directly contact a corresponding wing-moving switch on the product. Each of the aforementioned wing actuation components includes a wing actuation component base (36), a horizontal moving cylinder B (37), a horizontal sliding plate B (38), a vertical mounting bracket B (39), a wing actuation linear cylinder mounting seat (40), a wing actuation linear cylinder (41), a linear bearing mounting block B (42), a wing actuation finger connecting rod (43), and a wing actuation finger (44). Each set of the wing-moving assembly base (36) is mounted on the side of the main frame (1). The outer shell of the horizontal moving cylinder B (37) of each set of the wing-moving assembly is mounted on the wing-moving assembly base (36) of the same set of the wing-moving assembly. The driving end of the horizontal moving cylinder B (37) of each set of the wing-moving assembly is connected to the horizontal sliding plate B (38) of the same set of the wing-moving assembly and drives the connected horizontal sliding plate B (38) to move horizontally in a direction perpendicular to the length of the main frame (1). The vertical mounting bracket B (39) of each set of the wing-moving assembly is mounted on the horizontal sliding plate B (38) of the same set of the wing-moving assembly. The vertical mounting bracket B (39) of each set of the wing-moving assembly is connected to the spring of the product that has been positioned. The corresponding positions of the wings are respectively provided with the wing toggle linear cylinder mounting seats (40). Each wing toggle linear cylinder mounting seat (40) is respectively equipped with a wing toggle linear cylinder (41) and a linear bearing mounting block B (42). Each linear bearing mounting block B (42) is equipped with a linear bearing B. Each wing toggle linear cylinder (41) is connected to one end of a corresponding wing toggle finger connecting rod (43) at the drive end. The other end of each wing toggle finger connecting rod (43) passes through an adjacent linear bearing B and is connected to one end of a corresponding wing toggle finger (44). The other end of each wing toggle finger (44) is used to directly contact a corresponding wing toggle switch on the product.

2. The missile wing folding mechanism according to claim 1, characterized in that: The fixed support rotating assembly includes a fixed support rotating assembly base plate (5), a rotating drive unit (6), a support wheel frame A (7), and a support roller A (8). The fixed support rotating component base plate (5) is mounted on the main frame (1). The rotating drive unit (6) and the support wheel frame A (7) are respectively mounted on the fixed support rotating component base plate (5). The rotating drive unit (6) is located on the side close to the front positioning component, and the support wheel frame A (7) is located on the side away from the front positioning component. The support wheel frame A (7) is provided with two support rollers A (8). The two support rollers A (8) are symmetrically arranged on both sides of the product to be retracted. The drive end of the rotating drive unit (6) is connected to the wheel axle of the two support rollers A (8) through a transmission structure and simultaneously drives the two support rollers A (8) to rotate in the same direction.

3. The missile wing folding mechanism according to claim 1, characterized in that: Each of the lifting support components includes a lifting cylinder A (9), a support wheel frame B (10), and a support roller B (11). The outer shell of the lifting cylinder A (9) of each group of lifting support components is installed on the inner side of the main frame (1). The driving end of the lifting cylinder A (9) of each group of lifting support components is vertically upward and connected to the support wheel frame B (10) of the same group of lifting support components. Two support rollers B (11) are provided on the support wheel frame B (10) of each group of lifting support components. The two support rollers B (11) of the same group of lifting support components are symmetrically arranged on both sides of the product to be retracted.

4. The missile wing folding mechanism according to claim 1, characterized in that: The front positioning component includes a front positioning cylinder mounting base (12), a front positioning cylinder (13), and a front positioning block (14). The front positioning cylinder mounting base (12) is mounted on the other end of the main frame (1) along its length. The front positioning cylinder (13) is mounted on the front positioning cylinder mounting base (12). The front positioning block (14) is mounted on the drive end of the front positioning cylinder (13) and faces the direction of the rear positioning component.

5. The missile wing folding mechanism according to claim 1, characterized in that: The rear positioning component includes a rear positioning component base (15), a lifting cylinder B (16), a lifting plate (17), a rear positioning cylinder A (18), a rear positioning disc mounting seat (19), a rear positioning disc (20), a rear positioning cylinder B (21), a rear positioning fork block mounting seat (22), and a rear positioning fork block (23). The rear positioning component base (15) is installed on the main frame (1), the outer shell of the lifting cylinder B (16) is installed on the rear positioning component base (15), the driving end of the lifting cylinder B (16) is vertically upward and connected to the lifting plate (17), the outer shell of the rear positioning cylinder A (18) is installed on the lifting plate (17), the rear positioning disk mounting seat (19) is installed on the driving end of the rear positioning cylinder A (18), the rear positioning disk (20) is rotatably installed on the rear positioning disk mounting seat (19) and faces the direction of the front positioning component, the axial center line of the driving end of the rear positioning cylinder A (18) is collinear with the axial center line of the rotating shaft of the rear positioning disk (20); Two rear positioning cylinders B (21) are provided and are symmetrically installed on the lifting plates (17) on both sides of the rear positioning cylinder A (18). Each rear positioning cylinder B (21) has a rear positioning fork block mounting seat (22) installed at its driving end. Each rear positioning fork block mounting seat (22) has a rear positioning fork block (23) at a position corresponding to the rudder of the product after positioning. Each rear positioning fork block (23) has a positioning fork opening (2301) for inserting the rudder of the product. The axial center line of the driving end of each rear positioning cylinder B (21) and the axial center line of the driving end of the rear positioning cylinder A (18) are parallel to the length direction of the main frame (1).

6. The missile wing folding mechanism according to claim 1, characterized in that: The clamping component includes a jaw support base (24), a jaw opening and closing cylinder (25), and two symmetrically arranged V-groove jaw blocks (26). The jaw support base (24) is mounted on the main frame (1), and the jaw opening and closing cylinder (25) is mounted on the jaw support base (24). The jaw opening and closing cylinder (25) has two clamping ends, which are symmetrically located on both sides of the product to be retracted. Each clamping end of the jaw opening and closing cylinder (25) is provided with a V-groove jaw block (26). The positioning sensor (2) is located on the lower side of the gripper opening and closing cylinder (25).

7. The missile wing folding mechanism according to claim 1, characterized in that: A lead screw (45) is installed on the inner side of the main frame (1). Several guide rails A (46) are also installed on the main frame (1). The axial center line of the lead screw (45) and the length direction of each guide rail A (46) are parallel to the length direction of the main frame (1). A lead screw nut that is threadedly connected to the lead screw (45) is installed on the wing sliding plate (4). A slider A is also installed on the wing sliding plate (4) at the position corresponding to each guide rail A (46). Each slider A is slidably connected to the corresponding guide rail A (46). The lead screw (45) is connected to the driving end of the wing driving component (3).

8. The missile wing folding mechanism according to claim 1, characterized in that: The wing-folding assembly includes a pressure sensor mounting base (47), a pressure sensor (48), a wing-folding ring support (49), a guide rail B (50), a wing-folding ring mounting plate (51), a wing-folding ring (52), a wing-folding cylinder (53), and a wing-folding block (54). The pressure sensor mounting base (47) is mounted on the folding wing sliding plate (4), the folding wing ring support (49) is located above the folding wing sliding plate (4), and the pressure sensor (48) is connected between the folding wing ring support (49) and the pressure sensor mounting base (47). The folding wing sliding plate (4) is provided with a plurality of guide rails B (50), and the folding wing ring support (49) is provided with sliders B at the corresponding positions of each guide rail B (50). Each slider B is slidably connected to the corresponding guide rail B (50). The axial center line of the pressure sensor (48) and the length direction of each guide rail B (50) are parallel to the length direction of the main frame (1). An annular mounting portion is formed on the wing ring support (49). The wing ring mounting plate (51) is mounted on the annular mounting portion of the wing ring support (49). The wing ring (52) is mounted on the wing ring mounting plate (51). Circular product passage openings are formed inside the annular mounting portion of the wing ring support (49), inside the wing ring mounting plate (51), and on the inner side of the wing ring (52). The axial centerline of the product passage opening on the annular mounting portion of the wing ring support (49) and the product passage opening on the wing ring mounting plate (51) are... The axial centerline of the product passage of the wing ring (52) and the axial centerline of the product after positioning are collinear. Several wing-retracting cylinders (53) are evenly arranged in the circumferential direction on the wing ring mounting plate (51) outside the wing ring (52). The driving end of each wing-retracting cylinder (53) is located in the product passage of the wing ring (52) and is connected to a wing-retracting block (54). The setting position of each wing-retracting block (54) is simultaneously corresponding to a rudder wing and a missile wing on the product.

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