Warhead lifting and assembling device and method thereof

Abstract

The present invention discloses a warhead lifting and assembly device and method thereof, and belongs to the technical field of intelligent manufacturing. It comprises: a rail mechanism, a warhead mobile platform and a combat compartment flipping platform with reciprocating freedom on the rail mechanism, a loading mechanism installed on a lifting gantry, and a lifting assembly protection component arranged on a lifting gantry. The lifting assembly protection component adjusts the dynamic placement state of the warhead by lifting the warhead, and completes the assembly of the warhead and the combat compartment in a vertical state by clamping. The present invention designs a corresponding warhead lifting and assembly device according to the specific form and volume of the warhead and the combat compartment. The equipment is mainly used for assembling the warhead and the combat compartment, and is an auxiliary device for manual connection.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent manufacturing, and in particular relates to a warhead lifting and assembling device and a method thereof. Background Art

[0002] The warhead typically consists of a shell and a charge. Some warheads have a distinctive rhombus-shaped shape, with rhombus-shaped bosses at each end and an eccentric rhombus-shaped opening at the rear. The shell is a composite structure, lacking fixed connections or lifting points at the front or rear ends.

[0003] During the warhead transfer and auxiliary assembly process, the combat compartment and warhead are assembled vertically, and then flipped and placed horizontally after final assembly. Due to the relatively large size of the warhead shell, the assembly process is somewhat difficult and the operation is difficult. Summary of the Invention

[0004] The object of the present invention is to provide a warhead lifting and assembling device and method thereof to solve the problems raised in the background technology.

[0005] The present invention adopts the following technical solution: a warhead lifting and assembly device, wherein a loading area and an assembly area are arranged on the ground along the X-axis, and a preparation area is arranged along the Y-axis, and the preparation area and the loading area are arranged adjacent to each other; the lifting and assembly device comprises: a rail mechanism arranged in the loading area and the assembly area along the X-axis, a lifting gantry horizontally mounted on the preparation area and the loading area, and a lifting gantry arranged between the loading area and the assembly area; and further comprises:

[0006] The warhead moving platform and the battle compartment turning platform both have a reciprocating degree of freedom on the rail mechanism; the warhead moving platform and the battle compartment turning platform are used to transport the warhead and the battle compartment respectively, and adjust the placement of the warhead and the battle compartment according to needs;

[0007] A feeding mechanism is mounted on the hoisting gantry; the feeding mechanism has freedom of movement in at least the X-axis, Y-axis and Z-axis directions;

[0008] A lifting and assembly protection component is arranged on the lifting gantry; the lifting and assembly protection component adjusts the dynamic placement state of the warhead by lifting the warhead, and completes the assembly of the warhead and the fighting compartment in a vertical state by clamping.

[0009] In a further embodiment, the rail mechanism includes: two sets of rails, arranged in parallel along the X-axis; the vertical cross-section of the rails is I-shaped; and anti-collision pads are provided at both ends of each set of rails.

[0010] In a further embodiment, the warhead mobile platform comprises:

[0011] The warhead bracket has at least four sets of floating wheel assemblies arranged at the bottom;

[0012] A warhead support assembly and several warhead support blocks are arranged in parallel along the X-axis on the warhead bracket; the warhead support assembly includes: a warhead support member with a hollow structure, the interior of which is a warhead-shaped member; the warhead support member has X-axis axial movement freedom and rotational freedom; when the warhead support member approaches the warhead support block, part of the warhead is accommodated in the warhead support member.

[0013] In a further embodiment, the fighting compartment flipping platform comprises:

[0014] Two sets of symmetrically arranged rotating brackets, with at least two sets of floating wheel assemblies arranged at the bottom and a rotating assembly arranged at the top;

[0015] The tooling installation base plate has two ends correspondingly connected to the rotating assembly;

[0016] At least two groups of positioning components are correspondingly arranged on the tooling installation base plate along the X-axis; the positioning components adopt a clamping structure to form a clamping cavity, and the size of the clamping cavity is adapted to the structure of the warhead.

[0017] In a further embodiment, the lifting assembly protection component includes:

[0018] A lifting steel cable is provided on the top of the lifting gantry;

[0019] A middle support frame is slidably mounted on the lifting gantry along the Z axis;

[0020] The auxiliary clamping mechanism is installed on the middle supporting frame.

[0021] In a further embodiment, the warhead support assembly further comprises:

[0022] The push cylinder and at least two sets of rails are arranged parallel to the X axis;

[0023] The bottom bracket of the flip bracket is connected to the output end of the pushing cylinder;

[0024] At least two groups of flip supports are symmetrically positioned on the flip bracket base; the flip supports are configured to rotatably mount the warhead support.

[0025] In a further embodiment, the floating wheel assembly comprises: a front wheel assembly and a rear wheel assembly; the front wheel assembly comprises:

[0026] A front mounting frame, on which a drive motor is fixed; the front mounting frame is provided with a first guide groove along the X-axis, the first guide groove being adapted to fit the rail;

[0027] A driving wheel, drivingly connected to the output shaft of the driving motor;

[0028] A driven wheel is engaged with the driving wheel; the driving wheel and the driven wheel are mounted on the outside of the front mounting frame;

[0029] The front roller is installed inside the front installation frame and is coaxially connected to the driven wheel.

[0030] In a further embodiment, the rear wheel assembly comprises:

[0031] The lifting mechanism is mounted on a rotating bracket or a warhead bracket;

[0032] A rear mounting frame is transmission-connected to the output end of the lifting mechanism; the rear mounting frame is provided with a second guide groove along the X-axis, the second guide groove being adapted to fit the rail;

[0033] The rear roller is installed inside the rear mounting frame.

[0034] In a further embodiment, the lifting assembly protection assembly further comprises: a bottom auxiliary mechanism comprising:

[0035] Lifting base, installed on the ground;

[0036] A scissor-type transmission assembly is provided on the lifting base;

[0037] A lifting top plate is connected to the scissor transmission assembly;

[0038] The lifting cylinder is arranged on the lifting top plate; the output end of the lifting mechanism is provided with a lifting support block.

[0039] A warhead hoisting and assembling method, using the warhead hoisting and assembling device described above, comprises the following steps:

[0040] The warheads and combat compartments to be assembled are stored in the preparation area in advance according to the requirements, and the warheads in the preparation area are placed on the warhead support blocks on the warhead mobile platform using the loading mechanism;

[0041] The warhead support of the warhead mobile platform moves toward the direction of the warhead support block until part of the warhead is accommodated in the warhead support; at the same time, the warhead mobile platform moves toward the direction of the lifting gantry. After moving to the designated position, the lifting cable in the lifting assembly protection component hooks the designated position of the warhead end, and during the movement of the warhead mobile platform, the warhead is slowly tilted from a horizontal state;

[0042] After the warhead mobile platform moves to the bottom of the lifting gantry, the warhead is in a vertical state, and the auxiliary clamping mechanism in the lifting assembly protection component clamps the vertical warhead. After the warhead mobile platform continues to move forward and leaves the lifting gantry, the bottom auxiliary mechanism lifts the warhead and cooperates with the middle support frame and the auxiliary clamping mechanism to move the standing bucket upward until there is a sufficient height under the warhead;

[0043] The loading mechanism is used to place the fighting compartment in the preparation area onto the positioning assembly on the fighting compartment tilting platform and position it. The fighting compartment tilting platform moves toward the lifting gantry. After it moves to the designated position, the bottom auxiliary mechanism is removed. When the fighting compartment tilting platform moves below the lifting gantry, the tooling installation base plate rotates from a horizontal state to a vertical state and is located directly below the station bucket.

[0044] The middle support frame and auxiliary clamping mechanism slowly move the clamped warhead downward and load it into the fighting compartment.

[0045] Beneficial effects of the present invention: A warhead hoisting and assembly device tailored to the specific shape and volume of the warhead and combat compartment is designed. This device is primarily used for assembling the warhead and combat compartment, serving as an auxiliary device for manual connection. It primarily addresses the automation of product handling and ensures the stability of the warhead during assembly.

[0046] Reduce the number of operators. Operations in this area only require a small number of people to perform auxiliary work, reducing the possibility of human operating errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is the overall structural diagram of the warhead lifting and assembly device.

[0048] Figure 2 This is a structural diagram of the warhead mobile platform.

[0049] Figure 3 This is the structural diagram of the fighting compartment flip platform.

[0050] Figure 4 Structural drawing of the protective components assembled for lifting.

[0051] Figure 5 This is a structural diagram of the floating wheel assembly.

[0052] Figure 6 This is a structural diagram of the auxiliary clamping mechanism.

[0053] Figure 7 This is the structural diagram of the bottom auxiliary mechanism.

[0054] Figures 1 to 7The labels in the figure are: rail 1, lifting gantry 2, lifting gantry 3, warhead moving platform 4, fighting compartment turning platform 5, warhead 6, fighting compartment 7, loading mechanism 8, floating wheel assembly 9, lifting cable 301, middle support frame 302, auxiliary clamping mechanism 303, lifting bottom support 304, scissor transmission assembly 305, lifting top plate 306, lifting cylinder 307, lifting support block 308, tensioning cylinder 303-a, clamping plate 303-b, V-block 303-c, roller 303-d, Warhead bracket 401, warhead support block 402, warhead support member 403, pushing cylinder 404, track 405, flip bracket base 406, flip support 407, rotating bracket 501, rotating assembly 502, tooling mounting base plate 503, positioning assembly 504, front mounting frame 901, drive motor 902, first guide groove 903, driving wheel 904, driven wheel 905, front roller 906, cylinder 907, rear mounting frame 908, second guide groove 909, rear roller 910. DETAILED DESCRIPTION

[0055] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0056] Example 1

[0057] like Figure 1 As shown, a warhead lifting and assembly device is provided. A loading area and an assembly area are arranged on the ground along the X-axis, and a preparation area is arranged along the Y-axis. The preparation area and the loading area are adjacent to each other, that is, they are located on the same straight line. The lifting and assembly device includes a steel rail 1 arranged along the X-axis in the loading and assembly areas, a lifting gantry 2 horizontally extending between the preparation and loading areas, and a lifting portal 3 located between the loading and assembly areas.

[0058] Based on this, the lifting and assembly device also includes a warhead mobile platform 4 and a combat compartment tilting platform 5, which have the ability to reciprocate freely on the rail 1 mechanism. It should be noted that the warhead mobile platform 4 and the combat compartment tilting platform 5 are used to transport the warhead 6 and combat compartment 7, respectively, and adjust the placement of the warhead 6 and combat compartment 7 as needed. If they are maintained in a horizontal or tilted position during movement, they are switched to a vertical position during assembly.

[0059] Furthermore, a loading mechanism 8 is mounted on the hoisting gantry 2. The loading mechanism 8 in this embodiment has freedom of movement in at least the X-axis, Y-axis, and Z-axis directions. For example, the loading mechanism 8 in this embodiment is driven and mounted on an X-axis moving module, a Y-axis moving module, and a Z-axis moving module. The X-axis moving module, the Y-axis moving module, and the Z-axis moving module can employ conventional rack and pinion transmissions, cylinder 907 transmissions, and the like. Similarly, the fixture of the loading mechanism 8 can employ conventional pneumatic fixtures, which will not be described in detail.

[0060] Correspondingly, a lifting assembly protection component is provided in the lifting gantry 3. The lifting assembly protection component adjusts the dynamic placement state of the warhead 6 by lifting the warhead 6, and completes the assembly of the warhead 6 and the combat compartment 7 in a vertical state by clamping.

[0061] The rail mechanism comprises two sets of rails 1 arranged parallel to the X-axis. The rails 1 have an I-shaped vertical cross-section. Each set of rails 1 is equipped with crash pads at both ends. These provide dedicated paths for the warhead mobile platform 4 and the combat compartment tilting platform 5, increasing stability and preventing interference during assembly and transportation.

[0062] Further, such as Figure 2 As shown, the warhead mobile platform 4 includes a warhead bracket 401 with four sets of floating wheel assemblies 9 at its base. The floating wheel assemblies 9 are adapted to fit the rails 1. Crash pads protect the floating wheel assemblies 9 on the warhead mobile platform 4 and the combat compartment tilting platform 5. Warhead support assemblies and several warhead support blocks 402 are arranged in parallel along the X-axis on the warhead bracket 401.

[0063] The warhead support assembly includes a hollowed-out warhead support member 403, the interior of which is shaped like the warhead 6. The warhead support member 403 has both axial and rotational freedoms along the X-axis. When the warhead support member 403 approaches the warhead support block 402, a portion of the warhead 6 is accommodated within the warhead support member 403. Furthermore, to enable axial movement of the warhead support member 403 along the X-axis, the warhead support assembly also includes a propulsion cylinder 404 and two sets of rails 405 arranged parallel to the X-axis. The propulsion cylinder 404 serves as a power source, and the rails 405 serve as guides. The output end of the propulsion cylinder 404 is drivingly connected to a tilting bracket base 406. Two sets of tilting supports 407 are symmetrically fixed to the tilting bracket base 406. These two sets of tilting supports 407 are rotatably mounted to the warhead support member 403. External forces allow the warhead support member 403 to tilt relative to the horizontal.

[0064] like Figure 3As shown, the combat compartment tilting platform 5 comprises two symmetrically arranged rotating brackets 501, each equipped with at least two floating wheel assemblies 9 at its base and a rotating assembly 502 at its top. In this embodiment, the rotating assembly 502 is a gear transmission mechanism. The tooling mounting base 503 is connected to the rotating assembly 502 at both ends; the rotating assembly 502 drives the tooling mounting base 503 to rotate when necessary. Two positioning assemblies 504 are positioned along the X-axis on the tooling mounting base 503. These assemblies 504 utilize a clamping structure to form a clamping cavity sized to suit the structure of the warhead 6. Positioning and clamping can be achieved manually, such as with two semicircular clamps.

[0065] like Figure 4 As shown, the lifting assembly protection component includes: a lifting steel cable 301 provided at the top of the lifting gantry 3, and the lifting steel cable 301 in this embodiment has a transmission source, an execution line connected to the transmission source, and a hook provided at the output end of the execution line. A middle support frame 302 is provided on the lifting gantry 3 for sliding along the Z axis, wherein the sliding of the middle support frame 302 can be achieved by means of fixed pulleys, conveyor belts, etc., and it can complete the up and down movement. Among them, an auxiliary clamping mechanism 303 is installed on the middle support frame 302, and the auxiliary clamping mechanism 303 is used to clamp the warhead 6. Considering that the warhead 6 needs to move vertically during the later assembly process, the auxiliary clamping mechanism 303 in this embodiment is as shown in FIG. Figure 6 As shown, it includes a tensioning cylinder 303-a and a clamping plate 303-b that is transmission-connected to the tensioning cylinder 303-a. The inner wall of the clamping plate 303-b has V-shaped blocks 303-c positioned opposite each other. Several rollers 303-d are arranged on the V-shaped blocks 303-c to reduce friction during the upward and downward movement of the warhead 6.

[0066] In another embodiment, considering the volume of the warhead 6 and the combat compartment 7, the inertia during transfer is relatively large, so if emergency braking is not possible, there will be certain safety hazards. Figure 5 As shown, the floating wheel assembly 9 comprises a front wheel assembly and a rear wheel assembly. The front wheel assembly, used to provide power, comprises a front mounting frame 901, to which a drive motor 902 is fixed; a first guide groove 903 defined along the X-axis in the front mounting frame 901, adapted to fit within the rail 1; a driving wheel 904, transmission-connected to the output shaft of the drive motor 902; and a driven wheel 905, meshing with the driving wheel 904. Both the driving wheel 904 and the driven wheel 905 are mounted on the exterior of the front mounting frame 901. The front wheel assembly also comprises a front roller 303-d, mounted within the front mounting frame 901 and coaxially connected to the driven wheel 905.

[0067] To achieve emergency braking, the rear wheel assembly includes: a lifting mechanism mounted on the rotating bracket 501 or the warhead bracket 401; a rear mounting frame 908 transmission-connected to the output end of the lifting mechanism. The rear mounting frame 908 has a second guide slot 909 extending along the X-axis, adapted to fit the rail 1; and rear rollers 303-d mounted within the rear mounting frame 908. When emergency braking is required, the lifting mechanism is used to push the rear mounting frame 908 downward, causing the second guide slot 909 to contact the rail 1, increasing friction and achieving braking. The lifting mechanism can be a pneumatic cylinder 907.

[0068] In order to ensure the stability of the warhead 6 in a vertical state before assembly (the auxiliary clamping mechanism 303 adopts the roller 303-d clamping form to reduce friction), the lifting assembly protection component also includes: a bottom auxiliary mechanism. Figure 7 As shown, the bottom auxiliary mechanism includes a lifting base 304 mounted on the ground. A scissor-type transmission assembly 305 is mounted on the lifting base 304. The top of the scissor-type transmission assembly 305 is connected to a lifting top plate 306. A lifting cylinder 307 is mounted on the lifting top plate 306. A lifting support block 308 is installed at the output end of the lifting mechanism to support the warhead 6.

[0069] Example 2

[0070] Based on the warhead 6 lifting and assembling device of Example 1, this embodiment discloses a warhead 6 lifting and assembling method, comprising the following steps:

[0071] The warhead 6 and the battle compartment 7 to be assembled are stored in the preparation area in advance as required, and the warhead 6 in the preparation area is placed on the warhead support block 402 on the warhead mobile platform 4 by the loading mechanism 8;

[0072] The warhead support 403 of the warhead mobile platform 4 moves toward the direction of the warhead support block 402 until part of the warhead 6 is accommodated in the warhead support 403; at the same time, the warhead mobile platform 4 moves toward the direction of the lifting gantry 3. After moving to the designated position, the lifting cable 301 in the lifting assembly protection component hooks the designated position of the end of the warhead 6, and during the movement of the warhead mobile platform 4, the warhead 6 is slowly tilted from a horizontal state;

[0073] After the warhead moving platform 4 moves to the right below the lifting gantry 3, the warhead 6 is in a vertical state, and the auxiliary clamping mechanism 303 in the lifting assembly protection component clamps the warhead 6 in the vertical state. After the warhead moving platform 4 continues to move forward and leaves the lifting gantry 3, the bottom auxiliary mechanism lifts the warhead 6 and cooperates with the middle support frame 302 and the auxiliary clamping mechanism 303 to move the standing bucket upward until there is a sufficient height below the warhead 6;

[0074] The loading mechanism 8 is used to place the fighting compartment 7 in the preparation area onto the positioning assembly 504 on the fighting compartment tilting platform 5 and position it. The fighting compartment tilting platform 5 moves toward the lifting gantry 3. After it moves to the designated position, the bottom auxiliary mechanism is removed. When the fighting compartment tilting platform 5 moves below the lifting gantry 3, the tooling mounting base 503 rotates from a horizontal position to a vertical position and is located directly below the standing bucket.

[0075] The middle support frame 302 and the auxiliary clamping mechanism 303 slowly move the clamped warhead 6 downward and load it into the fighting compartment 7.

Claims

1. A warhead lifting and assembly device, wherein a loading area and an assembly area are arranged on the ground along the X-axis direction, and a preparation area is arranged along the Y-axis direction, wherein the preparation area and the loading area are arranged adjacent to each other; characterized in that: The lifting and assembling device comprises: a rail mechanism arranged in the loading area and the assembly area along the X-axis direction, a lifting gantry horizontally mounted on the preparation area and the loading area, and a lifting gantry arranged between the loading area and the assembly area; and further comprises: The warhead moving platform and the fighting compartment turning platform both have the freedom to move back and forth on the rail mechanism; the warhead moving platform and the fighting compartment turning platform are used to transport the warhead and the fighting compartment respectively, and adjust the placement status of the warhead and the fighting compartment according to needs; A feeding mechanism is installed on the lifting gantry; A lifting assembly protection component is arranged on the lifting gantry; the lifting assembly protection component adjusts the dynamic placement state of the warhead by lifting the warhead, and completes the assembly of the warhead and the fighting compartment in a vertical state by clamping; The fighting compartment flipping platform comprises: Two groups of rotating brackets are symmetrically arranged, with at least two groups of floating wheel assemblies arranged at the bottom and a rotating assembly arranged at the top; The tooling installation base plate has two ends correspondingly connected to the rotating assembly by transmission; At least two sets of positioning components are correspondingly arranged on the tooling installation bottom plate along the X-axis direction; the positioning components adopt a clamping structure to form a clamping cavity, and the size of the clamping cavity is adapted to the structure of the warhead; The floating wheel assembly comprises: a front wheel assembly and a rear wheel assembly; the front wheel assembly comprises: A front mounting frame, on which a driving motor is fixed; the front mounting frame is provided with a first guide groove along the X-axis direction, the first guide groove being adapted to fit the rail; A driving wheel, drivingly connected to the output shaft of the driving motor; A driven wheel meshed with the driving wheel; the driving wheel and the driven wheel are mounted outside the front mounting frame; A front roller, mounted inside the front mounting frame and coaxially connected to the driven wheel; The rear wheel assembly comprises: The lifting mechanism is mounted on a rotating bracket or a warhead bracket; A rear installation frame is transmission-connected to the output end of the lifting mechanism; the rear installation frame is provided with a second guide groove along the X-axis direction, and the second guide groove is adapted to the rail; The rear roller is installed inside the rear mounting frame.

2. A warhead lifting and assembling device according to claim 1, characterized in that: The rail mechanism comprises: two groups of rails, which are arranged in parallel along the X-axis; the vertical section of the rails is I-shaped; and anti-collision pads are arranged at both ends of each group of rails.

3. The warhead lifting and assembling device according to claim 1, characterized in that: The warhead mobile platform comprises: A warhead bracket, the bottom of which is provided with at least four sets of floating wheel assemblies; A warhead support assembly and a plurality of warhead support blocks are arranged in parallel in sequence along the X-axis on a warhead bracket; the warhead support assembly comprises: a warhead support member with a hollow structure, the interior of which is a warhead profiling member; the warhead support member has X-axis axial movement freedom and rotation freedom; when the warhead support member approaches the warhead support block, part of the warhead is accommodated in the warhead support member.

4. The warhead lifting and assembling device according to claim 1, characterized in that: The lifting assembly protection component comprises: A lifting steel cable, arranged on the top of the lifting gantry; A middle support frame is slidably arranged on the lifting gantry along the Z axis; The auxiliary clamping mechanism is installed on the middle supporting frame.

5. The warhead lifting and assembling device according to claim 3, characterized in that: The warhead support assembly also includes: A push cylinder and at least two sets of tracks are arranged in parallel along the X axis; The bottom bracket of the flip bracket is connected to the output end of the pushing cylinder by transmission; At least two groups of flip supports are symmetrically positioned on the flip bracket base; the flip supports are configured to rotatably mount the warhead support.

6. The warhead lifting and assembling device according to claim 4, characterized in that: The lifting assembly protection component also includes: a bottom auxiliary mechanism, including: Lifting base, installed on the ground; A scissor-type transmission assembly is arranged on the lifting base; A lifting top plate, which is transmission-connected to the scissor-type transmission assembly; A lifting cylinder is arranged on the lifting top plate; a lifting support block is arranged at the output end of the lifting cylinder.

7. A warhead hoisting and assembling method, using the warhead hoisting and assembling device as claimed in claim 1; characterized in that: The following steps are involved: The warheads and combat compartments to be assembled are stored in the preparation area in advance according to the requirements, and the warheads in the preparation area are placed on the warhead support blocks on the warhead mobile platform by using the loading mechanism; The warhead support of the warhead mobile platform moves toward the direction of the warhead support block until part of the warhead is accommodated in the warhead support; at the same time, the warhead mobile platform moves toward the direction of the lifting gantry, and after moving to the designated position, the lifting steel cable in the lifting assembly protection component hooks the designated position of the warhead end, and the warhead is slowly tilted from a horizontal state during the movement of the warhead mobile platform; After the warhead mobile platform moves to the right under the lifting gantry, the warhead is in a vertical state, and the auxiliary clamping mechanism in the lifting assembly protection component clamps the warhead in the vertical state. After the warhead mobile platform continues to move forward and leaves the lifting gantry, the bottom auxiliary mechanism lifts up the warhead and cooperates with the middle support frame and the auxiliary clamping mechanism to move the standing bucket upward until there is a sufficient height under the warhead; The loading mechanism is used to place the fighting compartment in the material preparation area onto the positioning assembly on the fighting compartment flipping platform and position it; the fighting compartment flipping platform moves in the direction of the lifting gantry, and after it moves to the designated position, the bottom auxiliary mechanism is removed. When the fighting compartment flipping platform moves to the bottom of the lifting gantry, the tooling installation bottom plate is rotated to switch from a horizontal state to a vertical state, and is located directly below the standing bucket; The middle support frame and auxiliary clamping mechanism slowly move the clamped warhead downward and load it into the fighting compartment.

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