Missile assembly vehicle and missile assembly method

Abstract

The present invention relates to the technical field of missile assembly, and provides a missile assembly vehicle and a missile assembly method. The missile assembly vehicle comprises a vehicle chassis, a hoisting mechanism, a hoisting transverse movement mechanism, a lifting mechanism, a missile transverse movement mechanism, a launcher clamping mechanism and a missile clamping mechanism; the hoisting mechanism comprises a lower support arm, an upper support arm, a support arm, a first hoisting assembly and a second hoisting assembly, the lower end of the lower support arm is connected to the vehicle chassis through the hoisting transverse movement mechanism, the lower end of the upper support arm is hinged to the upper end of the lower support arm, and one end of the support arm is hinged to the upper end of the upper support arm; the first hoisting assembly and the second hoisting assembly are arranged on the support arm at intervals, and the first hoisting assembly is used to hoist the launcher clamping mechanism; the bottom of the lifting mechanism is connected to the vehicle chassis through the missile transverse movement mechanism, and the missile clamping mechanism is connected to the lifting mechanism; wherein the hoisting mechanism has a storage state and a working state. The hoisting mechanism of the missile assembly vehicle has a folding function, which is convenient for stacking and transporting the missile assembly vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of missile assembly, and in particular to a missile assembly vehicle and a missile assembly method. Background Art

[0002] The assembly efficiency of missiles and launchers and whether the assembly vehicle is easy to transport are important factors affecting combat response time.

[0003] The existing assembly process of missiles and launchers includes two methods, one is online installation and the other is offline installation. Among them, the online installation process is: first fix the launcher on the aircraft, and then lift the missile to the inside of the aircraft for hanging. There are many obstructions, the hanging is difficult, the assembly efficiency is low, and the combat response time is affected. In order to improve the assembly efficiency, an offline installation method is proposed. The installation process is: first complete the missile and the launcher on the ground, and then install the assembled launcher as a whole into the interior of the aircraft's bomb bay, which is conducive to shortening the assembly time of the missile and the launcher, reducing the difficulty of assembly, and shortening the combat response time. For example, the patent with patent application number 202110645422.4 discloses a ground assembly vehicle that can be installed offline. However, the ground assembly vehicle in this scheme does not have a folding function, which is not convenient for stacking and transportation.

[0004] Therefore, how to optimize the structure of the ammunition assembly vehicle so that it can be installed offline and easy to stack and transport has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the present invention is to provide a missile assembly vehicle and a missile assembly method to solve the technical problem that the ground missile assembly vehicle in the prior art is inconvenient to stack and transport.

[0006] In order to achieve the above-mentioned purpose, according to a first aspect of the present invention, there is provided a missile assembly vehicle, comprising a vehicle chassis, a hoisting mechanism, a hoisting transverse movement mechanism, a lifting mechanism, a missile transverse movement mechanism, a launch unit clamping mechanism and a missile clamping mechanism; the hoisting mechanism comprises a lower support arm, an upper support arm, a support arm, a first hoisting assembly and a second hoisting assembly, the lower end of the lower support arm is connected to the vehicle chassis through the hoisting transverse movement mechanism, the hoisting transverse movement mechanism can drive the lower support arm to move transversely relative to the vehicle chassis, the lower end of the upper support arm is hinged to the upper end of the lower support arm, and one end of the support arm is hinged to the upper end of the upper support arm; the first hoisting assembly and the second hoisting assembly are arranged on the support arm at intervals, the first hoisting assembly is used for hoisting the launch unit clamping mechanism, the launch unit clamping mechanism is used for detachably connecting with the launch device, and the second hoisting assembly is used for hoisting the missile; the bottom of the lifting mechanism is connected to the vehicle chassis through the missile transverse movement mechanism The lifting mechanism is connected to the vehicle chassis, the missile transverse movement mechanism can drive the lifting mechanism to move transversely relative to the vehicle chassis, the transverse movement direction of the lifting mechanism is consistent with the transverse movement direction of the lower support arm, the missile clamping mechanism is connected to the lifting mechanism, the lifting mechanism can drive the missile clamping mechanism to move up and down relative to the vehicle chassis, and the missile clamping mechanism is used to be detachably connected to the missile; wherein, the lifting mechanism has a storage state and a working state, when the lifting mechanism is in the storage state, the support arm is folded downward at an angle of 90° relative to the upper support arm, and the upper support arm is folded downward at an angle of 90° relative to the lower support arm, and the hoisting mechanism after storage is located on one side of the transverse movement direction of the lifting mechanism as a whole; when the lifting mechanism is in the working state, the upper support arm is unfolded upward at an angle of 180° relative to the lower support arm, and the support arm is unfolded upward at an angle of 90° relative to the upper support arm, and the other end of the support arm extends along the transverse movement direction of the lower support arm.

[0007] According to a second aspect of the present invention, a missile assembly method is provided. The missile assembly method is performed by the above-mentioned missile assembly vehicle, and the missile assembly method comprises the following steps: putting the hoisting mechanism of the missile assembly vehicle in a working state; driving the hoisting mechanism to move to a launch device pickup position by the hoisting transverse movement mechanism of the missile assembly vehicle, clamping the launch device by the launch part clamping mechanism, and lifting the launch device by the first hoisting component of the missile assembly vehicle; driving the hoisting mechanism to move to a missile pickup position by the hoisting transverse movement mechanism of the missile assembly vehicle, and lifting the missile by the second hoisting component of the missile assembly vehicle; placing the missile on the missile clamping mechanism of the missile assembly vehicle by the hoisting mechanism; driving the missile clamping mechanism to move to a missile assembly position corresponding to the launch device by the missile transverse movement mechanism; driving the missile clamping mechanism and the missile upward by the lifting mechanism of the missile assembly vehicle, and assembling the missile on the launch device.

[0008] The present invention optimizes the structure of the ammunition assembly vehicle. On the basis of being able to realize the automated ground assembly of missiles and launch devices, the ammunition assembly vehicle also enables the hoisting mechanism to have a folding function, thereby facilitating the stacking and transportation of the ammunition assembly vehicle, which is beneficial to further shortening the combat response time.

[0009] The missile assembly method provided by the present invention can realize the automatic ground assembly of the missile and the launch device, and the assembly is reliable and efficient, which is conducive to shortening the combat response time.

[0010] Based on the implementations provided in the above aspects, this application can also be further combined to provide more implementations. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 A schematic diagram of the three-dimensional structure of the hoisting mechanism of the assembling vehicle provided by an optional embodiment of the present invention when in a storage state is shown;

[0013] Figure 2 A schematic diagram of the three-dimensional structure of the hoisting mechanism of the assembling vehicle provided by an optional embodiment of the present invention when in a working state is shown;

[0014] Figure 3 A schematic diagram showing the structure of a missile assembly vehicle provided by an optional embodiment of the present invention when hoisting a launch device and a missile;

[0015] Figure 4 Shows Figure 2 A schematic diagram of the structure of the bullet assembly vehicle from another angle;

[0016] Figure 5 Shows Figure 2 An enlarged view of part of the structure of the assembling vehicle;

[0017] Figure 6 Shows Figure 2 A schematic diagram of the structure of the first hoisting assembly, the second hoisting assembly and the rope collecting mechanism of the ammunition assembling vehicle;

[0018] Figure 7 Shows Figure 6 The internal structure diagram of the rope collection mechanism of the ammunition assembly vehicle after removing the outer cover;

[0019] Figure 8 Shows Figure 2 A schematic diagram of the structure of the locking assembly of the assembling vehicle when it is in a non-locking state;

[0020] Fig. 9 Shows Figure 8 A schematic diagram of the structure when the locking assembly is in a locked state;

[0021] Fig.10 Shows Figure 2 An enlarged view of the locking assembly of the assembling vehicle and the clamping mechanism of the launching unit, at which time the locking assembly does not lock the clamping mechanism of the launching unit;

[0022] Fig.11 Shows Figure 2 An enlarged view of the locking assembly of the assembling vehicle and the clamping mechanism of the launching unit, wherein the locking assembly locks the clamping mechanism of the launching unit;

[0023] Fig.12 Shows Fig.11 A schematic structural diagram of the locking assembly from another angle;

[0024] Fig.13 Shows Figure 2 A schematic diagram of the three-dimensional structure of the clamping mechanism of the launcher of the assembling vehicle from another angle, wherein the clamping claw of the launcher is in use;

[0025] Fig.14 Shows Fig.13 A cross-sectional view of a partial structure of a clamping mechanism of a launcher;

[0026] Fig.15 Shows Fig.13 A schematic diagram of the three-dimensional structure of the launch part clamping mechanism of the launch part when the launch part clamping claw is in the storage state;

[0027] Fig.16 Shows Figure 2 A schematic diagram of the three-dimensional structure of the hoisting and transverse movement mechanism of the assembling vehicle;

[0028] Fig.17 Shows Figure 2 A schematic diagram of the assembly structure of the missile clamping mechanism, the heading traverse mechanism, the lifting mechanism and the missile traverse mechanism of the missile assembly vehicle;

[0029] Fig.18 Shows Fig.17 A schematic diagram of the three-dimensional structure of the missile clamping mechanism in FIG. 1 , wherein the tooling support beam and the tooling bracket are in an open state;

[0030] Fig.19 Shows Fig.17 A schematic diagram of the three-dimensional structure of the missile clamping mechanism in FIG. 1 , wherein the tooling support beam and the tooling bracket are in a folded state;

[0031] Fig. 20 Shows Fig.17 A schematic structural diagram of a missile clamping assembly of a missile clamping mechanism;

[0032] Fig.21 Shows Fig. 20Schematic diagram of the disassembled structure of the missile clamping assembly;

[0033] Fig. 22 Shows Fig. 20 A schematic diagram of the three-dimensional structure of the missile clamping assembly after the roll limit bearing, the lateral limit bearing and the curved surface receiving part are assembled;

[0034] Fig.23 Shows Fig. 20 A cross-sectional view of the cooperation between the roll limit bearing and the guide notch of the missile clamping assembly;

[0035] Fig.24 Shows Fig. 20 A cross-sectional view of the locking handle and the curved receiving part of the missile clamping assembly;

[0036] Fig.25 Shows Fig.17 Schematic diagram of the three-dimensional structure of the missile traverse mechanism;

[0037] Fig.26 Shows Fig.17 A schematic diagram of a three-dimensional structure of a lifting mechanism at one angle;

[0038] Fig. 27 Shows Fig.17 A schematic diagram of the three-dimensional structure of the lifting mechanism from another angle;

[0039] Fig.28 Shows Fig.17 A schematic diagram of the three-dimensional structure of the heading traverse mechanism;

[0040] Fig.29 Shows Figure 2 A schematic diagram of the three-dimensional structure of the chassis of the assembly vehicle, wherein the auxiliary support mechanism is located outside the storage space;

[0041] Fig.30 Shows Figure 2 A schematic diagram of the three-dimensional structure of the chassis of the assembly vehicle, wherein the auxiliary support mechanism is located in the storage space;

[0042] Fig.31 Shows Figure 2 A schematic diagram of the structure in which the wireless charging component of the assembly vehicle is installed at the bottom of the vehicle chassis;

[0043] Fig.32 Shows the schematic diagram of WIFI connection;

[0044] Fig.33 The schematic diagram of LOOP alignment detection is shown;

[0045] Fig.34 The schematic diagram of LOOP constant current charging is shown;

[0046] Description of Figure Numbers:

[0047] 1. Launching device; 2. Missile; 10. Chassis; 11. Installation area; 20. Hoisting mechanism; 21. Lower support arm; 22. Upper support arm; 23. Support arm; 24. First lifting assembly; 241. First drive motor; 242. First lifting reducer; 243. First lifting wheel group; 2431. First transmission wheel; 2432. First guide wheel; 244. First lifting wire rope; 245. Second lifting wire rope; 25. Second lifting assembly; 251. Second drive motor; 252. Second lifting reducer; 253. Second lifting wheel group; 2531. Second transmission wheel; 2532. Second guide wheel; 254. Third lifting wire rope; 30. Hoisting transverse movement mechanism; 31. Hoisting transverse movement linear guide rail; 32 , lifting and lateral movement slider; 33, lifting and lateral movement screw nut; 34, lifting and lateral movement screw; 35, lifting and lateral movement reducer; 36, first synchronous wheel; 37, second synchronous wheel; 38, synchronous belt; 39, lifting and lateral movement drive motor; 310, lifting and lateral movement hand wheel; 311, lifting and lateral movement top plate; 40, lifting mechanism; 41, first scissor-type support arm; 42, second scissor-type support arm; 43, hinged shaft; 44, scissor-type fixed hinged base; 45, hydraulic cylinder; 46, hydraulic cylinder fixed base; 47, bottom sliding seat; 48, bottom guide rail; 49, bottom guide rail slider; 410, upper guide rail; 411, upper guide rail slider; 412, lifting platform plate; 50, missile lateral movement mechanism; 51, missile lateral movement linear guide; 52, missile Horizontal movement slider; 53, missile horizontal movement drive motor; 54, missile horizontal movement hand wheel; 55, missile horizontal movement reducer; 56, missile horizontal movement screw; 57, missile horizontal movement screw nut; 58, missile horizontal movement top plate; 60, launch unit clamping mechanism; 61, main frame; 6101, first beam; 6102, second beam; 6103, mounting hole; 6104, adjustment hole; 6105, positioning pin hole; 62, screw support; 63, drive screw; 64, adjustment hand wheel; 65, drive screw nut; 66, launch unit clamp; 661, mounting block; 662, first arm; 663, second arm; 664, buckle structure; 67, connecting roller; 68, storage roller; 69, storage guide; 691, flip guide groove; 69 11. Adjustment slot section; 6912. Storage slot section; 610. Positioning piece; 611. Connecting piece; 612. Limiting plate; 70. Missile clamping mechanism; 71. Tool support beam; 72. Missile clamping assembly; 721. Curved surface receiving piece; 7211. Received curved surface; 7212. First connecting hole; 7213. Guide notch; 722. Adjustment arm; 7221. Received plane; 7222. Second connecting hole; 723. Pin insertion; 724. Fixed support; 7241. Installation notch; 725. Lateral limit bearing; 726. Locking handle; 727. Rolling limit bearing; 73. Tool bracket; 80. Rope collection mechanism; 81. Outer cover; 811. Shifting slot; 8111. Separation slot section; 8112. Synchronous slot section;82. First transmission rod; 83. Second transmission rod; 84. First hoisting input gear; 85. Second hoisting input gear; 86. Synchronous gear; 87. Synchronous rod; 871. Shift notch; 88. Shift rod; 89. First rope collection hand wheel; 810. Second rope collection hand wheel; 90. Locking assembly; 91. Mounting box; 911. Guide hole; 912. Clearance hole; 913. Assembly hole; 92. Positioning column; 921. Mounting section; 922. Stop section; 923. Positioning section; 93. Transmission plate; 931. Fixing hole; 94. Guide column; 95. Spring; 96. First connecting plate; 97. The second connecting plate; 971, the first plate section; 972, the second plate section; 973, the third plate section; 98, the locking screw; 99, the locking hand wheel; 100, the heading moving mechanism; 101, the heading linear guide rail; 102, the heading screw; 103, the heading screw nut; 104, the heading driving motor; 105, the heading hand wheel; 106, the heading connecting block; 107, the heading slider; 110, the auxiliary supporting mechanism; 111, the auxiliary hydraulic cylinder; 112, the connecting part; 113, the supporting part; 120, the visual camera system; 130, the wireless charging component; 131, the receiving part; 132, the transmitting part. ; DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention. Unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.

[0049] like Figures 1 to 31As shown, an optional embodiment of the present invention provides a missile assembly vehicle, including a vehicle chassis 10, a hoisting mechanism 20, a hoisting transverse movement mechanism 30, a lifting mechanism 40, a missile transverse movement mechanism 50, a launcher clamping mechanism 60 and a missile clamping mechanism 70; the hoisting mechanism 20 includes a lower support arm 21, an upper support arm 22, a support arm 23, a first hoisting assembly 24 and a second hoisting assembly 25, the lower end of the lower support arm 21 is connected to the vehicle chassis 10 through the hoisting transverse movement mechanism 30, and the hoisting transverse movement mechanism 30 can drive the lower support arm 21 to move the lower support arm 22 to move the lower support arm 23 to move ... The support arm 21 moves laterally relative to the vehicle chassis 10, the lower end of the upper support arm 22 is hinged to the upper end of the lower support arm 21, and one end of the support arm 23 is hinged to the upper end of the upper support arm 22; the first lifting assembly 24 and the second lifting assembly 25 are arranged on the support arm 23 at intervals, the first lifting assembly 24 is used to lift the launcher clamping mechanism 60, the launcher clamping mechanism 60 is used to be detachably connected to the launcher 1, and the second lifting assembly 25 is used to lift the missile 2; the bottom of the lifting mechanism 40 is connected to the missile transverse movement mechanism 50 through the missile transverse movement mechanism 50. The missile lateral movement mechanism 50 can drive the lifting mechanism 40 to lateral movement relative to the vehicle chassis 10, and the lateral movement direction of the lifting mechanism 40 is consistent with the lateral movement direction of the lower support arm 21. The missile clamping mechanism 70 is connected to the lifting mechanism 40, and the lifting mechanism 40 can drive the missile clamping mechanism 70 to move up and down relative to the vehicle chassis 10. The missile clamping mechanism 70 is used to be detachably connected to the missile 2; wherein the hoisting mechanism 20 has a storage state and a working state. When the hoisting mechanism 20 is in the storage state, The support arm 23 is folded downward at an angle of 90° relative to the upper support arm 22, and the upper support arm 22 is folded downward at an angle of 90° relative to the lower support arm 21. The hoisting mechanism 20 after storage is located on one side of the lateral movement direction of the lifting mechanism 40 as a whole; when the hoisting mechanism 20 is in a working state, the upper support arm 22 is unfolded upward at an angle of 180° relative to the lower support arm 21, and the support arm 23 is unfolded upward at an angle of 90° relative to the upper support arm 22, and the other end of the support arm 23 extends along the lateral movement direction of the lower support arm 21.

[0050] When using the missile assembly vehicle provided by the present invention, the first lifting assembly 24 is first used to lift the launcher clamping mechanism 60, and the launcher 1 is clamped by the launcher clamping mechanism 60. Then, the missile 2 is lifted to the missile clamping mechanism 70 by the second lifting assembly 25, and the missile lateral movement mechanism 50 is used to drive the missile clamping mechanism 70 and the missile 2 to move synchronously, so as to adjust the positions of the missile clamping mechanism 70 and the missile 2, so that the missile 2 is moved to the lower side of the assembly position corresponding to the launcher 1, and the lifting mechanism 40 is used to drive the missile clamping mechanism 70 and the missile 2 to move upward as a whole, so as to assemble the missile 2 to the launcher 1.

[0051] The present invention optimizes the structure of the missile assembly vehicle. On the basis of being able to realize the automatic ground assembly of the missile 2 and the launch device 1, the missile assembly vehicle also enables the hoisting mechanism 20 to have a folding function, such as Figure 1 As shown, the hoisting mechanism 20 is in the storage state, and the firing part clamping mechanism 60 can be removed and stored separately, so as to facilitate the stacking and transportation of the assembly vehicle. The folded assembly vehicle in the storage state saves more space, and a large number of assembly vehicles can be quickly and efficiently transported to the combat site. After arriving at the combat site, the hoisting mechanism 20 of the assembly vehicle can be quickly switched from the storage state to the working state, as shown in FIG. Figure 2 As shown, the lifting mechanism 20 is in working condition, the first lifting assembly 24 is used to lift the launcher clamping mechanism 60, the second lifting assembly 25 is used to lift the missile 2, and the lifting mechanism 40 and the missile clamping mechanism 70 are used to assemble the missile 2 onto the launch device 1. After assembly, the first lifting assembly 24 can be used to directly lift the assembled launch device 1 and the missile 2 as a whole to the designated position, which is beneficial to further shorten the combat response time.

[0052] Alternatively, if Fig.29 and Fig.30 As shown, the vehicle chassis 10 has a concave installation area 11. The setting of the concave installation area 11 can further save space and is more conducive to stacking and transporting the lifting mechanism 20; in order to improve the stability of lifting, as shown in FIG. Figures 1 to 4 As shown, the bullet assembly vehicle includes two sets of hoisting mechanisms 20 arranged opposite to each other, and the two lower support arms 21 of the two sets of hoisting mechanisms 20 are connected to the vehicle chassis 10 through the hoisting transverse movement mechanism 30; the hinge point between the lower support arm 21 and the upper support arm 22 of one set of the two hoisting mechanisms 20 is higher than the hinge point between the lower support arm 21 and the upper support arm 22 of the other set, and when the two sets of hoisting mechanisms 20 are in the storage state, the hoisting mechanism 20 of the set with the higher hinge point is folded to the top of the other set of hoisting mechanisms 20 of the set with the lower hinge point; Figure 2 and Fig.16As shown, the lifting and transverse movement mechanism 30 includes a lifting and transverse movement linear guide 31, a lifting and transverse movement slider 32, a lifting and transverse movement screw nut 33, a lifting and transverse movement screw 34, a lifting and transverse movement reducer 35, a first synchronous wheel 36, a second synchronous wheel 37, a synchronous belt 38, a lifting and transverse movement drive motor 39 and a lifting and transverse movement handwheel 310; at least one lifting and transverse movement linear guide 31 is respectively provided at the left and right ends of the bottom of the installation area 11, and each lifting and transverse movement linear guide 31 is fixedly connected to the vehicle chassis 10, and each lifting and transverse movement linear guide 31 extends along the front and rear direction of the installation area 11; each lifting and transverse movement linear guide 31 is provided with at least one lifting and transverse movement slider 32 that can slide relative to the lifting and transverse movement linear guide 31; two lifting and transverse movement screws 34 are respectively arranged on the inner side of the lifting and transverse movement linear guide 31 at the left and right ends, and the two lifting and transverse movement screws 34 can be rotatable Arranged on the vehicle chassis 10, one end of the two hoisting transverse movement lead screws 34 is connected to a first synchronous wheel 36, the fixed part of the hoisting transverse movement drive motor 39 is fixedly connected to the vehicle chassis 10, the output end of the hoisting transverse movement drive motor 39 is connected to the input end of the hoisting transverse movement reducer 35, and two second synchronous wheels 37 are mounted on the output end of the hoisting transverse movement reducer 35, and two synchronous belts 38 are respectively mounted on a corresponding first synchronous wheel 36 and a second synchronous wheel 37, and a hoisting transverse movement handwheel 310 is connected to the output end of the hoisting transverse movement reducer 35; the two hoisting transverse movement lead screw nuts 33 are respectively mounted on the two hoisting transverse movement lead screws 34; the two hoisting transverse movement lead screw nuts 33 are respectively connected to the corresponding hoisting transverse movement sliders 32; the two sets of hoisting mechanisms 20 can be driven to move synchronously transversely through the hoisting transverse movement drive motor 39 or the hoisting transverse movement handwheel 310. The hoisting and transverse movement mechanism 30 provided by the present invention has a simple structure and can reliably drive the two sets of hoisting mechanisms 20 to move, thereby realizing the hoisting of the launching device 1.

[0053] Alternatively, if Fig.16 As shown, when the hoisting and lateral movement mechanism 30 includes at least four hoisting and lateral movement linear guide rails 31 or at least four hoisting and lateral movement sliders 32, the hoisting and lateral movement mechanism 30 also includes two hoisting and lateral movement top plates 311, the two hoisting and lateral movement top plates 311 are respectively connected to the tops of the corresponding hoisting and lateral movement sliders 32 located at the left and right ends of the installation area 11, and the bottoms of the two lower support arms 21 are respectively fixedly connected to the two hoisting and lateral movement top plates 311; the two hoisting and lateral movement lead screw nuts 33 are connected to the corresponding hoisting and lateral movement sliders 32 through the two hoisting and lateral movement top plates 311. The specific number of hoisting and lateral movement linear guide rails 31 and hoisting and lateral movement sliders 32 can be set according to actual needs.

[0054] In the illustrated specific embodiment of the present application, in order to ensure the smooth lateral movement of the hoisting mechanism 20, four hoisting lateral movement linear guide rails 31 and eight hoisting lateral movement sliders 32 are provided, and two hoisting lateral movement sliders 32 are installed on each hoisting lateral movement linear guide rail 31.

[0055] In the illustrated specific embodiment of the present application, in order to ensure the lateral movement synchronization of the two sets of hoisting mechanisms 20, a hoisting lateral movement drive motor 39 or a hoisting lateral movement handwheel 310 is used to drive the two sets of hoisting mechanisms 20 to move synchronously horizontally under the transmission of a synchronous wheel and a synchronous belt.

[0056] In an optional embodiment not shown in the figure of the present application, two lifting transverse movement drive motors 39 or two lifting transverse movement hand wheels 310 can also be provided according to actual needs to control the transverse movement of the two sets of lifting mechanisms 20 respectively.

[0057] In an optional embodiment not shown in the figure of the present application, one of the hoisting transverse movement drive motor 39 and the hoisting transverse movement hand wheel 310 may also be retained.

[0058] In the illustrated specific embodiment of the present application, in order to improve the reliability of the ammunition assembling vehicle, a redundant design is adopted. When the hoisting transverse movement drive motor 39 fails, the hoisting mechanism 20 can be driven to move transversely by the hoisting transverse movement handwheel 310. When the hoisting transverse movement handwheel 310 fails, the hoisting mechanism 20 can be driven to move transversely by the hoisting transverse movement drive motor 39.

[0059] In an optional embodiment of the present application which is not shown in the figure, when the object to be hoisted is relatively light and small in size, a set of hoisting mechanisms 20 may also be used.

[0060] Alternatively, if Figure 5 and Figure 6As shown, the lower surface of the support arm 23 is provided with a first wire rope outlet, a second wire rope outlet and a third wire rope outlet at intervals; the second wire rope outlet is located on the outside of the first wire rope outlet, and the third wire rope outlet is located on the outside of the second wire rope outlet; the first lifting assembly 24 includes a first drive motor 241, a first lifting reducer 242, a first lifting wheel group 243, a first lifting wire rope 244 and a second lifting wire rope 245, and the first lifting wheel group 243 includes a first transmission wheel 2431 and a plurality of first guide wheels 2432; the first transmission wheel 2431 is provided with a first installation wheel 244 that cooperates with the first lifting wire rope 244 The first guide wheels 2432 are provided with a first guide groove for cooperating with the first lifting wire rope 244 and a second guide groove for cooperating with the second lifting wire rope 245; the first drive motor 241 and the first hoisting reducer 242 are installed on the outside of the upper support arm 22; the first transmission wheel 2431 is located in the upper support arm 22, and the output end of the first hoisting reducer 242 is connected to the first transmission wheel 2431 by driving; a plurality of first guide wheels 2432 are arranged in the support arm 23 at intervals, and the first lifting wire rope 244 is connected to the second lifting wire rope 245 by the first guide groove and the second guide groove; the first driving motor 241 and the first hoisting reducer 242 are installed on the outside of the upper support arm 22; the first transmission wheel 2431 is located in the upper support arm 22, and the output end of the first hoisting reducer 242 is connected to the first transmission wheel 2431 by driving; the plurality of first guide wheels 2432 are arranged in the support arm 23 at intervals, and the first lifting wire rope 244 is connected to the second lifting wire rope 245 by the first guide groove and the second guide groove; the first driving motor 241 and the first hoisting reducer 242 are installed on the outside of the upper support arm 22; the first driving motor 241 and the first hoisting reducer 242 are connected to the first driving wheel 2431 by driving ... second lifting wire rope 245 by the first guide groove and the second guide groove; the first driving motor 241 and the first hoisting reducer 242 are connected to the second lifting wire rope 2 The guide of a guide groove extends from the first wire rope outlet, and the second lifting wire rope 245 extends from the second wire rope outlet through the second installation groove and the guide of multiple second guide grooves; the second lifting assembly 25 includes a second drive motor 251, a second lifting reducer 252, a second lifting wheel group 253 and a third lifting wire rope 254, the second lifting wheel group 253 includes a second transmission wheel 2531 and multiple second guide wheels 2532, the second transmission wheel 2531 is provided with a third installation groove that matches the third lifting wire rope 254, and each second guide wheel 2532 is provided with a third guide wheel that matches the third lifting wire rope 254. Toward groove; the second drive motor 251 and the second hoisting reducer 252 are installed on the outside of the upper support arm 22, and are spaced apart from the first drive motor 241 and the first hoisting reducer 242; the second transmission wheel 2531 is located in the upper support arm 22, and is spaced apart from the first transmission wheel 2431, the output end of the second hoisting reducer 252 is drivingly connected to the second transmission wheel 2531, a plurality of second guide wheels 2532 are spaced apart in the support arm 23 and are arranged side by side with a plurality of first guide wheels 2432, and the third hoisting wire rope 254 extends out from the third wire rope outlet through the guidance of the third installation groove and a plurality of third guide grooves.Taking into account the lifting weight of the first lifting assembly 24, a first lifting wire rope 244 and a second lifting wire rope 245 are set up for lifting together. The first driving motor 241 drives the first lifting wire rope 244 and the second lifting wire rope 245 to move synchronously, and the launching unit clamping mechanism 60, the launching unit clamping mechanism 60 clamping the launching device 1, or the launching device 1 equipped with the missile 2 and the launching unit clamping mechanism 60 are lifted to ensure the stability of the lifting; considering the weight of the missile 2, only the third lifting wire rope 254 is set to lift the missile 2.

[0061] In a specific embodiment of the present application, in order to improve the lifting stability of the launcher clamping mechanism 60, two first lifting wire ropes 244 and two second lifting wire ropes 245 of two sets of lifting mechanisms 20 are used to perform four-point lifting of the launcher clamping mechanism 60.

[0062] In the optional embodiments not shown in the figure of the present application, the structures of the first lifting assembly 24 and the second lifting assembly 25 can also be adjusted according to actual needs, such as adjusting the number of lifting wire ropes, adjusting the driving structure or the transmission structure, as long as reliable lifting can be achieved.

[0063] Alternatively, if Figure 4 , Figure 6 and Figure 7As shown, the bullet assembly vehicle also includes a rope collection mechanism 80, which includes an outer cover 81, a first transmission rod 82, a second transmission rod 83, a first hoisting input force gear 84, a second hoisting input force gear 85, a synchronous gear 86, a synchronous rod 87, a shift rod 88, a first rope collection handwheel 89 and a second rope collection handwheel 810; the outer cover 81 is connected to the upper support arm 22 and is located below the first hoisting reducer 242 and the second hoisting reducer 252; the first hoisting reducer 242 has two input ends, the first drive motor 241 is connected to the input end of the first hoisting reducer 242 located at the top, one end of the first transmission rod 82 is connected to the input end of the first hoisting reducer 242 located at the bottom, and the other end of the first transmission rod 82 is connected to the input end of the first hoisting reducer 242 located at the bottom. The first end is rotatably penetrated on the outer cover 81, the first hoisting input force gear 84 is sleeved on the first transmission rod 82, the first hoisting input force gear 84 is located in the outer cover 81 and can rotate synchronously with the first transmission rod 82; the second hoisting reducer 252 has two input ends, the second drive motor 251 is connected to the input end of the second hoisting reducer 252 located at the top, one end of the second transmission rod 83 is connected to the input end of the second hoisting reducer 252 located at the bottom, the other end of the second transmission rod 83 is rotatably penetrated on the outer cover 81, the second hoisting input force gear 85 is sleeved on the second transmission rod 83, the second hoisting input force gear 85 is located in the outer cover 81 and can rotate synchronously with the second transmission rod 83; the first transmission rod 82 and the second transmission The first lifting force gear 84 and the second lifting force gear 85 are parallel to each other in the vertical direction; the synchronous rod 87 is rotatably penetrated on the outer cover 81 and is located between the first transmission rod 82 and the second transmission rod 83, and the synchronous gear 86 is sleeved on the synchronous rod 87; a shift notch 871 is provided on the synchronous rod 87, and a shift groove 811 arranged opposite to the shift notch 871 is provided on the outer cover 81, and the shift groove 811 includes a separation groove section 8111 and a synchronization groove section 8112 connected to each other, and the side surface of the synchronization groove section 8112 is connected to the top of the side surface of the separation groove section 8111; one end of the shift rod 88 is hinged to the upper support arm 22, and the other end of the shift rod 88 is penetrated by the shift notch 871 and the shift groove 811 out of the outer cover 81; the shift lever 88 has a separation position and a synchronization position, and the separation position is located below the synchronization position; the shift lever 88 can drive the synchronization lever 87 to drive the synchronization gear 86 to move up and down; when the shift lever 88 is in the synchronization position, the shift lever 88 is located in the synchronization groove section 8112, and the synchronization gear 86 is engaged with the first hoisting input force gear 84 and the second hoisting input force gear 85; when the shift lever 88 is in the separation position, the shift lever 88 is located in the separation groove section 8111, and the synchronization gear 86 is separated from the first hoisting input force gear 84 and the second hoisting input force gear 85; the first rope collecting hand wheel 89 is drivingly connected to the lower end of the first transmission rod 82, and the second rope collecting hand wheel 810 is drivingly connected to the lower end of the second transmission rod 83.In this way, when it is necessary to quickly collect the rope, the shift lever 88 is moved to the synchronous position, and the first rope collection hand wheel 89 or the second rope collection hand wheel 810 is used to drive the first hoisting input force gear 84 or the second hoisting input force gear 85 to rotate, and then the second hoisting input force gear 85 or the first hoisting input force gear 84 is driven to rotate synchronously through the synchronous gear 86, so as to realize the synchronous collection of the first hoisting wire rope 244, the second hoisting wire rope 245 and the third hoisting wire rope 254, which is conducive to improving the efficiency of collecting ropes. According to actual needs, the shift lever 88 can also be moved to the separation position, and the first hoisting wire rope 244 and the second hoisting wire rope 245 can be synchronously collected by the first rope collection hand wheel 89, and the third hoisting wire rope 254 can be collected by the second rope collection hand wheel 810.

[0064] Alternatively, if Figure 4 As shown, the first rope collecting handwheel 89 and the second rope collecting handwheel 810 are arranged on the side of the lifting mechanism 20, the first rope collecting handwheel 89 is connected to the lower end of the first transmission rod 82 by a bevel gear and a transmission shaft, and the second rope collecting handwheel 810 is connected to the lower end of the second transmission rod 83 by a bevel gear and a drive shaft. In this way, the setting positions of the first rope collecting handwheel 89 and the second rope collecting handwheel 810 are optimized to facilitate the rope collecting operation.

[0065] Alternatively, if Fig.13 , Fig.14 and Fig.15As shown, the launcher clamping mechanism 60 includes a main frame 61, a screw support 62, a driving screw 63, an adjusting hand wheel 64, a driving screw nut 65, a launcher clamp 66, a connecting roller 67, a storage roller 68, a storage guide 69, a positioning member 610 and a connecting member 611: the main frame 61 includes a first beam 6101 and two second beams 6102 connected to each other, the middle of each second beam 6102 is respectively connected to the two ends of the first beam 6101, and the upper surfaces of the two ends of each second beam 6102 are respectively provided with two lifting points for cooperating with the first lifting assembly 24; the two driving screws 63 are respectively rotatably mounted on the main frame 61 through the screw support 62, and one end of each driving screw 63 is connected by the second beam 610 2 extends out of the mounting hole 6103 on the first crossbeam 6101 and is connected to an adjusting hand wheel 64, the other end of each driving screw 63 extends to the inside of the first crossbeam 6101 along the extension direction of the first crossbeam 6101; two driving screw nuts 65 are respectively mounted on the two driving screws 63; two connecting members 611 are respectively connected to the two driving screw nuts 65; an adjusting hole 6104 is provided on the side wall of the first crossbeam 6101, and two adjusting holes 6104 arranged opposite to each other on the two side walls form a group of adjusting holes, and two groups of adjusting holes are provided on the first crossbeam 6101; a receiving guide 69 is fixedly connected to the first crossbeam 6101, and a receiving guide 69 is respectively installed at each adjusting hole 6104, and a flip guide groove 691 is provided on the receiving guide 69, The flip guide groove 691 includes an L-shaped adjustment groove section 6911 and a storage groove section 6912 that are connected to each other, the adjustment groove section 6911 corresponds to the adjustment hole 6104, and the storage groove section 6912 extends in the vertical direction; each connecting member 611 is connected to a launch portion clamp 66 on both sides; wherein each launching portion clamp 66 includes a mounting block 661, a first arm 662, a second arm 663 and a buckle structure 664 that are connected in sequence, the first arm 662 extends along the extension direction of the second crossbeam 6102, the second arm 663 is perpendicular to the first arm 662, and the buckle structure 664 is perpendicular to the second arm 663; the mounting block 661 of each launching portion clamp 66 is rotatably connected to the connecting member 611 through a rotating shaft, and each rotating shaft is fitted with There is a connecting roller 67, which is rollingly connected to the groove wall of the flip guide groove 691; each launcher clamp 66 is also connected to a receiving roller 68, which is located on one side of the connecting roller 67 and is rollingly connected to the groove wall of the flip guide groove 691; the launcher clamp 66 has a use state and a storage state. When the launcher clamp 66 is in the use state, the storage roller 68 and the connecting roller 67 are located in the adjustment groove section 6911, the second arm 663 extends in the vertical direction, and the buckle structure 664 extends in the horizontal direction; when the launcher clamp 66 is in the storage state, the storage roller 68 and the connecting roller 67 are located at the storage groove section 6912, the second arm 663 extends in the horizontal direction, and the buckle structure 664 extends in the vertical direction;At least one positioning member 610 is connected to the bottom of the main frame 61, and a positioning hole that matches the positioning member 610 is provided on the launch device 1; a slot structure that matches the buckle structure 664 is provided on the launch device 1; the launch unit clamping mechanism 60 has a clamping state and a non-clamping state. When the launch unit clamping mechanism 60 is in the clamping state, the buckle structure 664 extends into the slot structure, and when the launch unit clamping mechanism 60 is in the non-clamping state, the buckle structure 664 escapes from the slot structure. In this way, the launch unit clamping claw 66 can be stored, which is conducive to saving space and facilitating the stacking and transportation of the assembly vehicle. The coordination of the positioning member 610 and the positioning hole, as well as the coordination of the slot structure and the buckle structure 664 can realize the precise clamping and lifting of the launch device 1 by the launch unit clamping mechanism 60, and the operation is convenient and reliable. ;

[0066] Optionally, the mounting block 661 may be split into two pieces in consideration of processing possibility, assembly possibility, and cost.

[0067] Alternatively, if Figures 8 to 12As shown, the bullet assembly vehicle also includes a locking assembly 90, which is arranged on the support arm 23 of the hoisting mechanism 20 and is used to lock the launcher clamping mechanism 60 on the support arm 23; the locking assembly 90 includes a mounting box 91, a positioning column 92, a transmission plate 93, a guide column 94, a spring 95, a first connecting plate 96, a second connecting plate 97, a locking screw 98 and a locking handwheel 99; the lower surface of the mounting box 91 has an assembly hole 913, the upper surface of the mounting box 91 is provided with a guide hole 911, and the lower surface of the mounting box 91 is also provided with two clearance holes 912, and the two clearance holes 912 are respectively located on the left and right sides of the mounting hole 913; along From top to bottom, the positioning column 92 includes a mounting section 921, a stop section 922 and a positioning section 923 connected in sequence, the diameter of the stop section 922 is larger than the diameter of the mounting section 921, and the diameter of the stop section 922 is larger than the diameter of the positioning section 923; the guide column 94 is movably arranged at the guide hole 911, the lower end of the guide column 94 is connected to the upper end of the transmission disk 93, the transmission disk 93 is movably arranged in the mounting box 91, the mounting section 921 is movably arranged at the assembly hole 913 along the vertical direction, and the upper end of the mounting section 921 is connected to the lower end of the transmission disk 93; the spring 95 is sleeved on the mounting section 921, and the diameter of the spring 95 is larger than The diameter of the assembly hole 913, the two ends of the spring 95 are respectively abutted against the upper surface of the stop segment 922 and the lower surface of the installation box 91; the second connecting plate 97 includes a first plate segment 971, a second plate segment 972 and a third plate segment 973 connected in sequence at an angle; the upper ends of the two first connecting plates 96 are respectively hinged to the left and right ends of the transmission disk 93, the lower ends of the two first connecting plates 96 are respectively hinged to the upper ends of the two first plate segments 971, and the two second connecting plates 97 are respectively hinged to the installation box 91, and the intersection point is located at the connection between the first plate segment 971 and the second plate segment 972, and the lower ends of the two second plate segments 972 extend out from the two clearance holes 912 , the two third plate sections 973 extend in a direction close to each other to form a double hook structure; the upper surface of the first crossbeam 6101 is provided with a positioning pin hole 6105 adapted to the positioning section 923, and the diameter of the positioning pin hole 6105 is smaller than the diameter of the stop section 922; the main frame 61 also includes a limit plate 612, and a limit plate 612 is respectively installed on both sides of the first crossbeam 6101; a fixing hole 931 is provided in the middle of the transmission disk 93; the locking screw 98 is rotatably installed on the support arm 23, one end of the locking screw 98 extends into the installation box 91 for matching with the fixing hole 931, and the other end of the locking screw 98 is connected to the locking handwheel 99;The locking assembly 90 has a locking state and an unlocking state. The launching part clamping mechanism 60 moves upward under the drive of the first lifting assembly 24, the positioning section 923 extends into the positioning pin hole 6105, the spring 95 is in a compressed state, the positioning column 92 and the transmission disk 93 move upward and drive the double hook structure to rotate in the direction of approaching each other, the two third plate segments 973 extend in the horizontal direction and are respectively located below the two limit plates 612, the upper surfaces of the two third plate segments 973 are respectively fitted with the lower surfaces of the two limit plates 612, and the locking screw 98 is driven to extend into the fixing hole 931 by rotating the locking hand wheel 99, and the locking assembly 90 is in a locking state; the locking screw 98 is driven to disengage from the fixing hole 931 by rotating the locking hand wheel 99, the positioning column 92 and the transmission disk 93 move downward under the action of the spring 95, the double hook structure rotates in the direction away from each other, the two third plate segments 973 are disengaged from the two limit plates 612, and the locking assembly 90 is in an unlocking state. In this way, by providing the locking assembly 90 to lock and fix the launcher clamping mechanism 60, the launcher 1 on the launcher clamping mechanism 60 is prevented from shaking during the assembly process of the launcher 1 and the missile 2, which is beneficial to the docking of the missile 2 and the launcher 1 and improves the assembly efficiency. ;

[0068] Alternatively, if Figures 17 to 19 As shown, the missile clamping mechanism 70 includes a tooling support beam 71, a tooling bracket 73 and at least one missile clamping assembly 72. The tooling support beam 71 is fixedly connected to the upper end of the lifting mechanism 40. The tooling support beam 71 includes a middle support beam, two end support beams and two support shafts. The two end support beams are respectively connected to the middle support beam through a support shaft. The tooling bracket 73 includes a middle bracket and two end brackets. The middle bracket is slidably connected to the middle support beam, and the two end brackets are respectively slidably connected to the two end support beams. A plurality of fixing holes are provided on the sides of the middle bracket and the two end brackets. The missile clamping assembly 72 is detachably connected to the tooling bracket 73, and the missile clamping assembly 72 is fixed to the tooling bracket 73 by the cooperation of the fixing pin and the fixing hole. When the missile clamping mechanism 70 includes a plurality of missile clamping assemblies 72, the plurality of missile clamping assemblies 72 are arranged at intervals along the extension direction of the missile 2; as shown in FIG. Fig. 20As shown, the missile clamping assembly 72 includes a curved surface receiving member 721, an adjusting arm 722 and a pin 723. The curved surface receiving member 721 has two receiving curved surfaces 7211 arranged opposite to each other. Each receiving curved surface 7211 is used to match the curved surface of the missile 2. Considering the shape of the missile 2, the adjusting arm 722 has two receiving planes 7221 arranged in an L shape. The receiving planes 7221 are used to match the plane of the missile 2. The two adjusting arms 722 are respectively hinged to the two ends of the curved surface receiving member 721. The two adjusting arms 722 are respectively hinged to the two ends of the curved surface receiving member 721. 722 is symmetrically arranged on the outer sides of the two receiving curved surfaces 7211, and a first connecting hole 7212 is respectively provided at both ends of the curved receiving member 721, and a second connecting hole 7222 is provided on the two adjusting arms 722; the adjusting arm 722 has a first position and a second position. When the adjusting arm 722 is rotated upward, the first connecting hole 7212 and the corresponding second connecting hole 7222 are arranged opposite to each other, and the pin plug 723 is inserted into the first connecting hole 7212 and the second connecting hole 7222, the adjusting arm 722 is located at the first position; when the pin plug 723 is not inserted into the first connecting hole 7212 and the adjusting arm 722 is rotated downward, the adjusting arm 722 is located at the second position. In this way, a missile clamping assembly 72 having a receiving curved surface 7211 and a receiving plane 7221 is provided, and the position of the receiving plane 7221 can be adjusted by adjusting the position of the adjusting arm 722, thereby improving the practicality of the missile clamping assembly 72, and whether to adjust the position of the adjusting arm 722 can be selected according to the structural characteristics of different missiles 2. By increasing the receiving area, the clamping stability of the missile 2 is improved.

[0069] like Figure 21 to Figure 24 As shown, the missile clamping assembly 72 is in a combined form, including a fixed support 724 at the bottom and an upper bracket structure. The fixed support 724 is provided with an installation notch 7241. The curved surface receiving member 721, the adjusting support arm 722 and the pin plug 723 form the upper bracket structure. The curved surface receiving member 721 is provided with a guide notch 7213. The horizontal rolling limit bearing 727 cooperates with the guide notch 7213. Because the guide notch 7213 is coaxial with the arc center line of the bracket, the horizontal rolling operation can be realized. The lateral limit bearing 725 contacts the outer edge of the guide notch 7213 to ensure that the bracket will not fall during the horizontal rolling operation. The locking handle 726 and the fixed support 724 are threadedly matched. The locking handle 726 is pressed against the bottom surface of the groove of the guide notch 7213. By rotating the thread depth of the locking handle 726, it can be ensured that the locking handle 726 is tightly pressed against the bottom surface of the groove of the guide notch to ensure stability. The upper bracket structure can roll along the arc axis of the upper bracket in the mounting notch 7241 of the fixed support 724. The rolling motion is to ensure that the missile mounting surface and the missile launcher docking plane are parallel. The degree of freedom (roll) needs to be adjusted. The adjustment is to manually provide a rotational force. After the adjustment is in place, it is locked.

[0070] The end support beam drives the end bracket to rotate relative to the middle support beam through the support shaft, and can switch between the open state and the folded state, such as Fig.18 As shown, the tooling support beam 71 and the tooling bracket 73 are in an open state. Fig.19 As shown, the tool support beam 71 and the tool bracket 73 are in a folded state, which saves more space and is convenient for stacking and transportation. The position of the tool bracket 73 on the tool support beam 71 and the position of the missile clamping assembly 72 on the tool bracket 73 can be adjusted according to the length of the missile 2, so as to better support the missile 2.

[0071] Optionally, the position of the adjustment arm 722 of the missile clamping assembly 72 is adjusted according to the shape of the missile 2. When the missile 2 is a cylindrical missile, the adjustment arm 722 is located at the first position. When the missile 2 is a square missile, the adjustment arm 722 is located at the second position, thereby improving the applicability of the missile clamping assembly 72.

[0072] Alternatively, if Figure 2 and Fig.25 As shown, the missile traverse mechanism 50 includes a missile traverse linear guide 51, a missile traverse slider 52, a missile traverse drive motor 53, a missile traverse hand wheel 54, a missile traverse reducer 55, a missile traverse screw 56, a missile traverse screw nut 57 and a missile traverse top plate 58; at least one missile traverse linear guide 51 is fixedly connected to the vehicle chassis 10, at least one missile traverse slider 52 is slidably connected to the missile traverse linear guide 51, the missile traverse screw 56 is rotatably arranged on the vehicle chassis 10, and the missile traverse screw 56 is rotatably arranged on the vehicle chassis 10. The fixed part of the missile traverse driving motor 53 is fixedly connected to the vehicle chassis 10, the output end of the missile traverse driving motor 53 is connected to one input end of the missile traverse reducer 55, the missile traverse hand wheel 54 is connected to the other input end of the missile traverse reducer 55, the output end of the missile traverse reducer 55 is drivingly connected to the missile traverse lead screw 56, the missile traverse lead screw nut 57 is sleeved on the missile traverse lead screw 56, and the lower surface of the missile traverse top plate 58 is connected to the missile traverse slider 52 and the top of the missile traverse lead screw nut 57. In this way, the missile traverse mechanism 50 is used to drive the missile clamping mechanism 70 and the lifting mechanism 40 to move synchronously, so as to facilitate the adjustment of the position of the missile 2 so that it can be docked with the assembly position on the launch device 1.

[0073] Alternatively, if Fig.17 , Fig.26 and Fig. 27As shown, the lifting mechanism 40 is a scissor lift mechanism; the scissor lift mechanism includes a first scissor arm 41, a second scissor arm 42, an articulated shaft 43, a scissor fixed articulated base 44, a hydraulic cylinder 45, a hydraulic cylinder fixed base 46, a bottom sliding seat 47, a bottom guide rail 48, a bottom guide rail slider 49, an upper guide rail 410, an upper guide rail slider 411, and a lifting platform plate 412; two scissor fixed articulated bases 44 are fixedly installed on the missile traverse top plate 58 at intervals, and two bottom guide rails 48 are fixedly installed on the missile traverse top plate 58 at intervals, and each bottom guide rail 48 is slidably connected to a bottom guide rail slider 49, and the bottom sliding seat 47 is connected to the two bottom guide rail sliders 49 on the two bottom guide rails 48; the middle parts of the two first scissor arms 41 and the two second scissor arms 42 are connected to the bottom guide rail sliders 49 on the two bottom guide rails 48. The middle part of the arm 42 is hinged through two hinge shafts 43 in one-to-one correspondence; the lower ends of the two second scissor arms 42 are respectively hinged to the two ends of the bottom sliding seat 47, the lower ends of the two first scissor arms 41 are respectively hinged to the two scissor fixed hinge bases 44, the fixed part of the hydraulic cylinder 45 is fixedly installed on the missile transverse top plate 58 through the hydraulic cylinder fixed base 46, and the output end of the hydraulic cylinder 45 is fixedly connected to the bottom sliding seat 47; the upper ends of the two second scissor arms 42 are respectively hinged to the two sides of the first end of the lifting platform plate 412, and the two sides of the second end of the lifting platform plate 412 are respectively fixed with an upper guide rail 410, each upper guide rail 410 is slidably connected with an upper guide rail slider 411, and the upper ends of the two first scissor arms 41 are respectively hinged to the two upper guide rail sliders 411. In this way, the scissor lifting mechanism is used to drive the missile 2 to move upward and assemble with the launch device 1, and the scissor lifting mechanism has the advantages of simple structure and stable operation.

[0074] In an optional embodiment of the present invention not shown in the figure, other lifting mechanisms may also be selected.

[0075] Alternatively, if Fig.17 and Fig.28As shown, the missile assembly vehicle also includes a heading moving mechanism 100, through which the missile clamping mechanism 70 is connected to the lifting mechanism 40; the lateral movement direction of the heading moving mechanism 100 is perpendicular to the lateral movement direction of the missile lateral movement mechanism 50; the heading moving mechanism 100 includes a heading linear guide rail 101, a heading screw 102, a heading screw nut 103, a heading drive motor 104, a heading hand wheel 105, a heading connection block 106 and a heading slider 107; at least one heading linear guide rail 101 is fixedly arranged on the lifting mechanism 40, and at least one heading slider 107 is installed on the heading linear guide rail 101; The heading screw 102 is rotatably mounted on the lifting mechanism 40, the extension direction of the heading screw 102 is the same as the extension direction of the two heading linear guide rails 101, the heading screw nut 103 is sleeved on the heading screw 102, the heading connection block 106 is connected to the heading screw nut 103, and the heading connection block 106 and the heading slider 107 are both connected to the lower surface of the tooling support beam 71; the fixed end of the heading drive motor 104 is fixedly connected to the lifting mechanism 40, the output end of the heading drive motor 104 is drivingly connected to one end of the heading screw 102, and the heading hand wheel 105 is drivingly connected to the other end of the heading screw 102. In this way, by adding the heading moving mechanism 100, the position of the missile 2 can be adjusted along the axis direction of the missile 2, so that the missile 2 and the launch device 1 can be better docked and assembled.

[0076] Alternatively, if Fig.29 and Fig.30 As shown, the ammunition assembly vehicle also includes an auxiliary support mechanism 110, which includes an auxiliary hydraulic cylinder 111, a connecting portion 112 and a supporting portion 113. One end of the connecting portion 112 is hinged to the vehicle chassis 10, and the other end of the connecting portion 112 is detachably connected to the supporting portion 113. One end of the fixing portion of the auxiliary hydraulic cylinder 111 is hinged to the vehicle chassis 10, and the output end of the auxiliary hydraulic cylinder 111 is hinged to the connecting portion 112. The vehicle chassis 10 has a storage space, and the connecting portion 112 is extended out of the storage space or retracted into the storage space by controlling the extension and contraction of the output end of the auxiliary hydraulic cylinder 111. In this way, it is not only beneficial for the ammunition assembly vehicle to provide more stable support when assembling ammunition, but also beneficial for the ammunition assembly vehicle to store and stack during transportation, saving space and improving transportation efficiency.

[0077] Alternatively, if Figure 1As shown, the missile assembly vehicle also includes a visual camera system 120, which is arranged on the vehicle chassis 10. The visual camera system 120 includes a binocular camera and a control component, and the control component is connected to the binocular camera through a communication cable. The binocular camera is used for data collection, and the control component performs data analysis on the collected data. The binocular camera is used to shoot the installation process of the missile and the missile launcher. The visual camera system 120 is used to ensure that automatic positioning can be achieved, and can also detect whether there is a collision risk, etc., to improve installation safety.

[0078] Alternatively, if Fig.31 As shown, the bullet assembly vehicle also includes a wireless charging component 130, which includes a receiving component 131 and a transmitting component 132, and the receiving component 131 and the transmitting component 132 are arranged at the bottom of the vehicle chassis 10; wherein the receiving component 131 includes a receiving controller and a receiving coil, and the transmitting component 132 includes a transmitting coil and a transmitting controller assembly, the receiving controller is electrically connected to the receiving coil, the transmitting controller is electrically connected to the transmitting coil, and the transmitting controller is wirelessly connected to the receiving controller. In this way, the bullet assembly vehicle provided by the present invention can realize wireless charging and is easy to use.

[0079] An optional embodiment of the present invention further provides a missile assembly method, which is performed by the above-mentioned or the following missile assembly vehicle, and the missile assembly method includes the following steps: S1, making the hoisting mechanism 20 of the missile assembly vehicle in a working state; S2, driving the hoisting mechanism 20 to move to the launch device pickup position through the hoisting transverse movement mechanism 30 of the missile assembly vehicle, clamping the launch device 1 through the launch part clamping mechanism 60, and lifting the launch device 1 through the first hoisting component 24 of the missile assembly vehicle; S3, driving the hoisting mechanism 20 to move to the missile pickup position through the hoisting transverse movement mechanism 30 of the missile assembly vehicle, and lifting the missile 2 through the second hoisting component 25 of the missile assembly vehicle; S4, placing the missile 2 on the missile clamping mechanism 70 of the missile assembly vehicle through the hoisting mechanism 20; S5, driving the missile clamping mechanism 70 to move to the missile assembly position corresponding to the launch device 1 through the missile transverse movement mechanism 50; S6, driving the missile clamping mechanism 70 and the missile 2 to move upward through the lifting mechanism 40 of the missile assembly vehicle, and assembling the missile 2 to the launch device 1.

[0080] Optionally, the missile assembly method further includes the following steps: S7, repeating the above steps S3 to S6 to assemble multiple missiles 2 onto the launch device 1; S8, placing the assembled assembly on a bomb-hanging vehicle through the first lifting assembly 24, and assembling the assembly as a whole onto the aircraft using the bomb-hanging vehicle.

[0081] Optionally, between the above steps S2 and S3, the missile assembly method further comprises the following steps: S21, fixing the launcher clamping mechanism 60 to the support arm 23 of the hoisting mechanism 20 through the locking assembly 90. In this way, it is beneficial to ensure that the position of the launch device 1 is relatively stable, and it is convenient to quickly assemble the missile 2 onto the launch device 1.

[0082] Optionally, between the above-mentioned step S5 and step S6, the missile assembly method further includes the following steps: S51, adjusting the position of the missile 2 by means of the heading moving mechanism 100, thereby facilitating the alignment and assembly of the missile 2 and the launching device 1, which is beneficial to further improve the assembly efficiency.

[0083] Optionally, the missile assembly method further includes the following steps: supporting the vehicle chassis 10 through the auxiliary support mechanism 110, which is beneficial to improving the support stability of the missile assembly vehicle, improving the missile assembly efficiency, ensuring the missile assembly effect, and at the same time, facilitating the stacking and transportation of the missile assembly vehicle. Specifically, when the missile assembly vehicle is assembling missiles, the auxiliary hydraulic cylinder 111 controls the connecting part 112 to extend, and the supporting part 113 is connected to the connecting part 112; when the missile assembly vehicle needs to be transported, the auxiliary hydraulic cylinder 111 controls the connecting part 112 to be retracted into the storage space of the vehicle chassis 10.

[0084] Optionally, the missile assembly method also includes the following steps: obtaining an image of the relative position between the missile 2 and the launch device 1 through the binocular camera of the visual camera system 120, so as to adjust the relative position of the two according to the image, thereby facilitating the rapid assembly of the missile 2 and the launch device 1.

[0085] Optionally, before the above step S1, the missile assembly method further includes the following steps: placing the plurality of missile assembly vehicles in a storage state, stacking the plurality of missile assembly vehicles, and transporting them to a preset location.

[0086] In the illustrated specific embodiment provided by the present invention, the missile assembly vehicle includes a vehicle chassis and a hoisting mechanism, a launcher clamping mechanism and a projectile clamping mechanism arranged on the vehicle chassis. The vehicle chassis is provided with an installation area, and the hoisting mechanism, the launcher clamping mechanism and the projectile clamping mechanism are all arranged in the installation area; and the launcher clamping mechanism is detachably connected to the missile launch device, and the projectile clamping mechanism is detachably connected to the missile body; the hoisting mechanism includes folding arms arranged opposite to each other, the folding arms include a hoisting body and a support arm, and the bottom of the hoisting body is connected to A lifting and lateral movement component is provided, and the lifting and lateral movement component moves in the installation area under the drive of the lifting and lateral movement component. The support arm is provided at the top of the lifting body and the support arm extends to the outside of the vehicle chassis. The support arm is provided with a first lifting component and a second lifting component. The first lifting component is used to lift the clamping mechanism of the launcher and drive the launch device on the clamping mechanism of the launcher to move; the second lifting component is used to lift the projectile to the projectile clamping mechanism. The projectile clamping mechanism moves the projectile toward the direction of the launch device after the attitude adjustment and lateral movement component moves the projectile to the bottom of the connection point corresponding to the launch device. The first lifting component includes a first driving motor, a first lifting reducer and a first lifting wheel group. The first driving motor is connected to the first lifting wheel group through the first lifting reducer; the second lifting component includes a second motor, a second lifting reducer and a second lifting wheel group. The second driving motor is connected to the second lifting wheel group through the second lifting reducer; the first lifting wheel group and the second lifting wheel group are both provided with a plurality of guide wheels and wire ropes, and the outlet of the second lifting component is located outside the outlet of the first lifting component. The hoisting body includes an upper support arm and a lower support arm; the upper support arm is connected between the support arm and the lower support arm, and the support arm is rotatably connected to the top of the upper support arm, and the upper support arm is rotatably connected to the top of the lower support arm. The hoisting body is equipped with a commutator, and the commutator includes a stopper, a first hoisting input gear, a second hoisting input gear and a synchronous gear. The synchronous gear is arranged between the first hoisting input gear and the second hoisting input gear, and under the control of the stopper, the synchronous gear has a separation state and a synchronization state at the meshing position between the first hoisting input gear and the second hoisting input gear; the first hoisting reducer and the second hoisting reducer each have at least two input ends respectively, one input end of the first hoisting reducer is connected to the first motor, and the other input end is connected to the first hoisting input gear in the commutator through a transmission shaft; one input end of the second hoisting reducer is connected to the second motor, and the other input end is connected to the second hoisting input gear in the commutator through a transmission shaft. The clamping mechanism of the launching part includes a main frame, a locking clamp, a driving screw, a handwheel, a storage roller and a flip guide groove; the driving screw is arranged in the main frame, and handwheels connected to the driving screw are arranged on both sides of the main frame, and a plurality of flip guide grooves are arranged on both sides of the main frame along the axial direction, and a plurality of locking clamps are respectively connected to the driving screw through connecting pieces and extend along the flip guide groove; under the action of the driving screw, the plurality of locking clamps move in opposite directions; an upward storage groove is arranged on one side of the flip guide groove, and a storage roller is arranged between the locking clamp and the flip guide groove.The arm is provided with a locking assembly, which includes a locking claw, a transmission disc, a guide positioning column, a spring, a locking screw and a handwheel; the locking claw is connected to both sides of the transmission disc through a first connecting plate and a second connecting plate, and the first connecting plate and the second connecting plate are folded and rotatably connected to both sides of the transmission disc; the transmission disc is provided with a guide positioning column and a spring, the spring is wrapped around the outside of the guide positioning column, and the main frame is provided with a limit plate in contact with the guide positioning column; the handwheel is connected to the disc body of the transmission disc through a locking screw. The hoisting transverse movement mechanism includes a transverse movement linear guide slider, a hoisting transverse trapezoidal screw, a hoisting transverse screw nut, a hoisting transverse drive motor, a hoisting transverse reducer, and a hoisting transverse handwheel, and the hoisting transverse handwheel is connected to the output shaft of the hoisting transverse reducer; the hoisting transverse movement linear guide slider is installed on the upper part of the chassis frame, and the hoisting transverse movement top plate is installed on the upper part of the transverse movement mechanism, connected to the slider in the hoisting transverse movement linear guide slider, and connected to the hoisting transverse screw nut. The missile body clamping mechanism includes a missile transverse movement mechanism, an attitude adjustment transverse movement top plate, a scissor lift mechanism, a heading movement mechanism, and a tooling bracket; the missile transverse movement mechanism is installed on the upper part of the vehicle body chassis and is arranged in the middle part of the vehicle body chassis, the attitude adjustment transverse movement top plate is installed on the upper part of the missile transverse movement mechanism, the scissor lift mechanism is installed on the upper part of the transverse attitude adjustment mechanism, the heading movement mechanism is installed on the upper part of the scissor lift mechanism, and the tooling bracket is installed on the upper part of the heading movement mechanism; the tooling bracket includes a tooling support beam and a plurality of missile clamping mechanisms, the plurality of missile clamping mechanisms are slidably connected to the tooling support beam, the missile clamping mechanism includes a curved surface receiving member and an adjustment arm rotatably connected to both sides of the curved surface receiving member, and the curved surface receiving member is provided with a fixing hole; when the receiving surface of the adjustment arm and the receiving surface of the curved surface receiving member are located in the same plane, the fixing of the adjustment arm is achieved by inserting a pin into the fixing hole; the receiving surface of the adjustment arm is a right-angle structure, and the receiving surface of the curved surface receiving member is a curved structure. The tooling support beam includes a supporting middle beam and end support beams located on both sides of the supporting middle beam, and the end support beams are rotatably connected to the supporting weight. The missile transverse movement mechanism includes an attitude adjustment transverse movement linear guide slider, an attitude adjustment transverse trapezoidal screw, an attitude adjustment transverse screw nut, an attitude adjustment transverse drive motor, an attitude adjustment transverse reducer, and an attitude adjustment transverse handwheel, and the attitude adjustment transverse handwheel is connected to the output shaft of the attitude adjustment transverse reducer; the attitude adjustment transverse movement linear guide slider is installed on the upper part of the chassis frame for guiding the missile transverse movement mechanism. The attitude adjustment transverse movement top plate is installed on the upper part of the missile transverse movement mechanism, and the two ends are connected to the sliders in the attitude adjustment transverse movement linear guide slider, and the middle part is connected to the attitude adjustment transverse screw nut. The scissor lift mechanism includes a hydraulic cylinder, a hydraulic cylinder fixed base, a bottom sliding seat, a scissor bottom guide slider, a scissor fixed hinged base, a first scissor support arm, a second scissor support arm, a hinged shaft, an upper guide slider and a lifting platform plate; the scissor fixed base is fixed on the attitude adjustment and transverse movement bottom plate, and the scissor bottom guide slider is fixed on the attitude adjustment and transverse movement bottom plate; the bottom sliding seat is connected to the scissor bottom guide slider to achieve reciprocating motion. The hydraulic cylinder fixed base is installed on the upper part of the attitude adjustment and transverse movement top plate. The tail of the hydraulic cylinder is connected to the hydraulic cylinder fixed base, and the extended end of the hydraulic cylinder is connected to the bottom sliding seat.The bottom of the first scissor arm is connected to the fixed hinged base of the scissors, and the upper part is connected to the upper guide slider. The bottom of the second scissor arm is connected to the bottom sliding seat, and the upper part is connected to the lifting platform plate. The first scissor arm and the second scissor arm are connected by a hinge shaft in the middle. The heading movement mechanism includes a heading linear guide slider, a heading trapezoidal screw, a heading screw nut, a heading nut connection block, a heading drive motor, and a heading handwheel. The heading drive motor is connected to the inner shaft end of the heading trapezoidal screw. The heading trapezoidal screw is rotated by the heading drive motor to drive the heading screw nut to reciprocate, thereby realizing the heading movement function. The handwheel is installed on the outer shaft end of the heading trapezoidal screw. The heading linear guide slider is installed on the upper part of the lifting platform plate for guiding the heading movement mechanism. The heading linear guide slider and the heading trapezoidal screw are both connected to the tooling support beam of the tooling bracket. An auxiliary support is provided at the bottom of the vehicle chassis, and the auxiliary support is connected to the vehicle chassis through hydraulic telescopic movement. The vehicle chassis also includes a binocular camera, a control unit and a drive unit, and the control unit is electrically connected to the binocular camera and the drive unit respectively. The vehicle chassis is also provided with a wireless charging component, which includes a receiving unit and a transmitting unit; the receiving unit and the transmitting unit are installed at the bottom of the vehicle chassis, and the receiving unit and the transmitting unit are automatically started according to the working conditions to complete the charging task.

[0087] A specific embodiment of the present invention also provides a missile assembly method, using the missile assembly vehicle provided in the specific embodiment, and the steps are: S10. The lifting mechanism moves the support arm to the outside of the vehicle chassis through the lifting and lateral movement component, and lifts the launcher clamping mechanism to the missile launcher through the first lifting component. After the installation is completed, the launcher is lifted to the support arm; S20. The tooling bracket moves to the edge of the vehicle chassis facing the missile body through the missile lateral movement mechanism, and lifts the missile body to the missile clamping mechanism through the second lifting component of the support arm, and moves to the bottom of the installation area corresponding to the launcher through the missile lateral movement mechanism; S30. The missile body is lifted to the installation area corresponding to the launcher through the scissor lift mechanism to complete the installation; S40. Repeat steps S20 and S30 until the requirements for the missile distribution of the generating device are met. S50. The launcher and the multiple installed missile bodies are transported to the required lifting location through the first lifting component.

[0088] Optionally, the combined launch device 1 and multiple missiles 2 can be placed together on a missile-carrying vehicle for transportation.

[0089] The number of missiles 2 installed on the launch device 1 can be set according to actual needs. After analysis and calculation of the assembly process, when the launch device 1 is installed with three missiles 2, the assembly time is 5.3 minutes, and when the launch device 1 is installed with two missiles 2, the assembly time is 3.8 minutes, which is much shorter than the assembly time required for traditional equipment. It greatly saves working time, greatly improves work efficiency, and provides efficient guarantee for entering combat status earlier.

[0090] The main innovation of this application is that it can realize the offline installation of the missile launcher and the missile body, and the secondary innovation is that it can realize the folding and unfolding of the entire equipment, saving space in the idle state. The principles of the first lifting assembly and the second lifting assembly are the same. Both use the motor and the reducer to drive the wheel group to rotate to realize the rise and fall of the steel rope. It should be noted that the present invention includes two sets of lifting mechanisms, which are symmetrically arranged. When the combined missile launcher (i.e., the launcher 1) is lifted, a 4-point lifting form is adopted, and each support arm provides two lifting points. The stability and safety of the lifting process can be achieved through the four lifting points. The lifting mechanism is installed on the upper part of the lifting traverse assembly, and the lifting mechanism includes an upper support arm, a support arm, a lower support arm, and a folding hinge. The lower support arm is located at the lower part, the upper support arm is installed on the upper part of the lower support arm through a folding hinge, and the support arm is installed on the upper part of the upper support arm through a folding hinge. The support arm and the upper support arm can be folded and unfolded by rotating the hinge, realizing the characteristic of reducing the transport volume. Because the support arm needs to be folded, it is necessary to synchronize and separate the wire rope. It is designed with a manual fork-type commutator for hoisting. The commutator consists of a shift lever, a first hoisting input gear, a second hoisting input gear, a synchronous gear, an outer cover and other parts. Both gears have an anti-error design. When the separation gear is selected, gravity can be used to ensure that the lever is in the lower part of the slot. When the synchronization gear is selected, there is a lever limit slot to ensure that the lever is stably placed in the slot to ensure synchronization stability. The synchronization and separation control of the wire rope is achieved by changing the gear position. Before folding the folding arm, it is first necessary to turn off the motor connected to the reducer, and manually move the synchronous gear to the meshing point of the first hoisting input gear and the second hoisting input gear, so that the two gears can rotate in the same direction, and then the gear connection between the transmission shaft and the reducer can be used to achieve the synchronous winding of the first hoisting assembly and the second hoisting assembly. Under the action of the screw rod, the distance between the two jaws can be adjusted to match different launching devices. At the same time, the locking jaw has a storage function. When in the restricted state, the locking jaw moves to the upward storage groove through the pulley eye flip guide groove to reduce the overall space.

[0091] Fig.10 This is the situation of the locking assembly in an idle state. It can be seen that the locking jaws are in a non-locking state. Fig.11 As shown, when the launch device moves upward with the launch part clamping mechanism, the main frame abuts against the positioning column. As the positioning column moves upward, the transmission disk drives the first connecting plate and the second connecting plate to rotate, thereby gradually closing the locking claws and putting them in a clamping state. When the transmission disk is transmitted to a certain position, the locking screw can be rotated by the hand wheel to move to the fixed hole of the transmission disk to achieve locking. It should be noted that the locking screw can be a trapezoidal screw. In addition, a limit plate is set in the main frame. When the locking claw is closed, the locking claw supports the main frame through the limit plate.

[0092] The guiding column and the spring can effectively realize the guidance in the positioning process, and the locking claw is driven by the connecting rod structure to perform accurate closing and locking actions, reducing the locking errors caused by deviation. It provides the success rate and reliability of locking. Secondly, the double hook locking method increases the firmness of the locking. Compared with the single hook, the double hook can distribute the locking force more evenly. Thereby greatly improving the bearing capacity and impact resistance, it is suitable for various complex and high-demand working environments. After the lifting and locking are in place, the positioning and locking are achieved by manually rotating the locking screw to ensure safety. The top-guided double hook locking mechanism achieves the adaptability of bomb box retrieval and hoisting and assembly by virtue of precise guiding design, firm locking method, efficient and convenient operation, high-quality materials and processes. At present, the outer surface of the missile 2 has both curved surfaces and right-angle surfaces. In order to improve the use scenario of this equipment, the curved surface receiving part and the adjustment arm are combined. When the equipment is folded as a whole, the tooling bracket can be folded, and the end supports are installed at both ends of the middle support, connected by the support shaft, and can be folded and stretched according to different working conditions. The tooling bracket is installed on the upper part of the tooling support beam, and the position of the tooling bracket in the length direction of the tooling support beam can be adjusted according to different requirements of the use position.

[0093] The extension and retraction of the auxiliary support mechanism 110 are driven by a hydraulic cylinder. The hydraulic cylinder is connected to the chassis and the auxiliary support by a hinge shaft. The hydraulic cylinder extends to drive the auxiliary support to complete the extension action, and the support rod is supported by the ground manually. The hydraulic cylinder retracts to drive the auxiliary support to complete the retraction action, and the support rod can be folded for storage.

[0094] The receiving part includes a receiving controller and a receiving coil, the transmitting part includes a transmitting coil and a transmitting controller assembly, the receiving controller is electrically connected to the receiving coil, the transmitting controller is electrically connected to the transmitting coil, and the transmitting controller and the receiving controller are wirelessly connected. The specific communication protocol is as follows:

[0095] (1) CAN communication

[0096] At present, the CAN communication of the on-board end of the wireless charging system adopts the CAN2.0 standard, supports standard frame and extended frame protocols, and the CAN baud rate supports classic baud rates such as 500kbps 250kbps 125kbps, which can be adjusted and adapted according to the actual baud rate of the system. At present, the system supports three wake-up sources: CAN message wake-up, hard line wake-up, and self-wake-up, and sleep supports AUTOSAR network management specifications.

[0097] (2) RS485 communication

[0098] The vehicle-mounted end of the wireless charging system supports RS485 communication, standard ModBus protocol and custom protocol. The device address ID is assigned by the master node, and the wireless charging system is self-adaptive.

[0099] The communication method steps are as follows:

[0100] Step 1: Connect to WIFI, such as Fig.32 As shown in the figure, the principle is as follows: First, the vehicle power management system wakes up the on-board charging terminal through any CAN message. The on-board charging terminal then sends a WPTNM message and WPT1 and WPT2 messages to report the current status. The vehicle power management system sends a signal to the charging management terminal to confirm that the vehicle is in a stopped state. Next, the on-board charging management terminal sends a WiFi connection request to the charging station and waits for the successful establishment of the WiFi connection. Once the WiFi connection is successful, the on-board charging management system will send a WPT01 message to the vehicle power management system to confirm that the WiFi communication service has been successfully established, so that it can proceed to the next step.

[0101] Step 2: LOOP alignment detection, such as Fig.33 As shown in the figure, the principle is as follows: In this step, the on-board charging management terminal reports to the vehicle power management system through the WPT01 message that the current working state is "waiting for alignment" and the current preparation state is "not ready". The current alignment state is evaluated and output based on the actual mutual inductance between the on-board charging coil and the charging station coil. At this stage, the vehicle enters the alignment state and makes fine adjustments until the power management system reports the alignment state as "aligned". The vehicle control system will control the vehicle to stop running and send a message to the charging management system to notify that the vehicle has stopped.

[0102] Step 3: LOOP constant current charging, such as Fig.34 As shown in the figure, the principle is as follows: At this stage, the charging management system first reports to the vehicle control system that it has entered the preparation state and charging can start. The vehicle control system sends a message to the on-board charging management system, describing the required voltage and current, and starts charging. The charging management system responds to this request and enters the constant current or constant voltage charging mode. When the vehicle power management system determines that charging is complete and charging can be stopped, it will send a stop charging request to the charging management system via a WPT message. The charging management system will determine the current charging status and stop sending NM messages and WPT messages to the vehicle system, notifying the charging station to stop working and disconnect the WiFi connection with the charging station.

[0103] At present, when installing a composite missile launcher and a missile body on an aircraft, the composite missile launcher is installed first, and then a single missile is installed. This installation method requires a large amount of parking time for the aircraft, and cannot be quickly installed in an emergency, which affects combat efficiency. The purpose of the present invention is to provide an electric missile assembly vehicle to achieve offline (not on the aircraft) installation of the composite missile launcher and the missile body. After the aircraft is in place, the composite missile launcher and the missile body assembly can be installed as a whole. Through the form of overall installation, precious time can be left for flying and combat. Through reasonable design, the entire equipment can be stacked and transported in a small volume, improving the equipment transportation efficiency. The missile body assembly provided by the present invention can realize the offline hanging and disassembly of the composite missile launcher of the aircraft and the missile on the ground, multi-degree-of-freedom posture adjustment, and composite lifting operations.

[0104] Optionally, the chassis of the missile assembly vehicle provided by the present invention also has a walking function, which can be realized by using an existing walking mechanism, and the specific structure will not be repeated here. The omnidirectional walking function of the missile assembly vehicle can realize offline loading at any ground position, ensuring that it is as close to the aircraft as possible to improve the transportation efficiency. Through a reasonable hoisting and fixing method of the composite missile launcher, the stability and safety during the installation of the missile body can be guaranteed. Through a reasonable design of a reasonable hoisting mechanism, the hoisting operation requirements of the missile body can be realized without auxiliary tooling. Through a reasonable multi-degree-of-freedom posture adjustment structure, the assembly and disassembly of the composite missile launcher and the missile body assembly can be completed efficiently and accurately.

[0105] Optionally, a towing hook is connected to the vehicle chassis for use in cooperating with an external trailer to tow the device.

[0106] The electric bullet assembly vehicle provided in a specific embodiment of the present invention includes a vehicle chassis, a posture adjustment mechanism, a lifting mechanism, and a tooling hanger. The vehicle chassis is located at the bottom of the equipment as a load-bearing device, and the vehicle chassis contains an electronic control system, a hydraulic system, and an auxiliary support mechanism. The lifting mechanism is arranged on the outer side of the upper part of the vehicle chassis to form a gantry-type lifting structure. The tooling hanger is a detachable structure and is connected to the hanging point of the lifting mechanism when in use. The vehicle chassis includes an ultrasonic sensor, an emergency stop button, a lifting point, a mooring point, and a traction mechanism. The ultrasonic sensor is connected to the electronic control system; three groups of ultrasonic sensors are provided at the front and rear ends of the chassis frame and five groups of ultrasonic sensors are provided at the left and right ends. A set of emergency stop buttons is fixed on the left front, left rear, right front, and right rear of the side of the chassis frame; a lifting point is fixed on the left front, left rear, right front, and right rear of the upper end surface of the chassis frame; and a mooring point is fixed on the left front, left rear, right front, and right rear of the lower end surface of the chassis frame. The traction mechanism is respectively connected to the front pin hole of the chassis frame and the steering wheel group. The auxiliary support mechanism is located on the front and rear sides of the vehicle body. During operation, the lifting point of the lifting mechanism needs to be moved outside the vehicle chassis, so the auxiliary support is used to ensure the stability of the vehicle body. The extension and retraction of the auxiliary support mechanism 110 are driven by a hydraulic cylinder. The hydraulic cylinder is connected to the chassis and the auxiliary support by a hinge shaft. The hydraulic cylinder extends and drives the auxiliary support to complete the extension action, and the support rod is manually operated and supported on the ground. The hydraulic cylinder retracts and drives the auxiliary support to complete the retraction action, and the support rod can be folded and stored. The attitude adjustment mechanism includes a missile lateral movement mechanism, an attitude adjustment lateral movement top plate, a scissor lift mechanism, a heading movement mechanism, and a tooling bracket. The missile lateral movement mechanism is installed on the upper part of the chassis frame, the attitude adjustment lateral movement top plate is installed on the upper part of the missile lateral movement mechanism, the scissor lift mechanism is installed on the upper part of the lateral attitude adjustment mechanism, the heading movement mechanism is installed on the upper part of the scissor lift mechanism, and the tooling bracket is installed on the upper part of the heading movement mechanism. The missile transverse movement mechanism is arranged in the middle of the chassis, and the transverse movement direction is the width direction of the vehicle body, so as to achieve the characteristic of reducing the volume in the width direction of the vehicle body. This arrangement is particularly prominent for the stability of the center of gravity of the entire equipment, ensuring that the vehicle can pass through a narrow space during walking, and has the advantage of stable passing. In addition, the horizontal arrangement combined with the auxiliary legs can realize the external extension of the posture adjustment mechanism, improve the stability of the equipment assembly process and the feasibility of the assembly space. The missile transverse movement mechanism adopts an advanced intelligent control system, which can detect the posture and movement of the vehicle body in real time, and automatically adjust the transverse movement speed and amplitude according to the preset parameters and actual working conditions, further improving the accuracy and safety of the vehicle body walking in narrow spaces. The components of the transverse movement mechanism adopt a lightweight design, which minimizes the weight of the mechanism without affecting the strength and performance. This not only helps to reduce the energy consumption of the whole vehicle, but also further optimizes the distribution of the center of gravity and enhances stability.The missile traverse mechanism includes a missile traverse linear guide slider, a missile traverse trapezoidal lead screw, a missile traverse screw nut, a missile traverse drive motor, a missile traverse reducer, and a missile traverse handwheel. The missile traverse drive motor is matched with the missile traverse reducer to realize the rotation of the missile traverse screw and drive the missile traverse screw nut to reciprocate, thereby realizing the traverse movement function. The missile traverse screw is a trapezoidal lead screw, and the missile traverse handwheel is connected to the output shaft of the missile traverse reducer. The missile traverse linear guide slider is installed on the upper part of the chassis frame to guide the missile traverse mechanism. The missile traverse top plate is installed on the upper part of the missile traverse mechanism, and is connected to the missile traverse linear guide slider at both ends and the missile traverse screw nut in the middle. The scissor lift mechanism is installed on the upper part of the missile traverse top plate, including a hydraulic cylinder, a hydraulic cylinder fixed base, a bottom sliding seat, a scissor bottom guide slider, a scissor fixed hinged base, a first scissor arm, a second scissor arm, a hinge shaft, an upper guide slider and a lifting platform plate; the scissor fixed base is fixed on the attitude adjustment traverse bottom plate, and the scissor bottom guide slider is fixed on the attitude adjustment traverse bottom plate; the bottom sliding seat is connected to the scissor bottom guide slider to achieve reciprocating motion. The hydraulic cylinder fixed base is installed on the upper part of the attitude adjustment traverse top plate. The tail of the hydraulic cylinder is connected to the hydraulic cylinder fixed base, and the extended end of the hydraulic cylinder is connected to the bottom sliding seat. The bottom of the first scissor arm is connected to the scissor fixed hinged base, and the upper part is connected to the upper guide slider. The bottom of the second scissor arm is connected to the bottom sliding seat, and the upper part is connected to the lifting platform plate. The first scissor arm and the second scissor arm are connected by a hinge shaft in the middle. The heading moving mechanism is installed on the upper part of the lifting platform plate of the scissor lift mechanism, and includes a heading linear guide slider, a heading trapezoidal screw, a heading screw nut, a heading nut connection block, a heading drive motor, and a heading handwheel. The heading drive motor is connected to the inner shaft end of the heading trapezoidal screw. The heading trapezoidal screw is rotated by the heading drive motor to drive the heading screw nut to reciprocate, thereby realizing the heading moving function. The handwheel is installed on the outer shaft end of the heading trapezoidal screw. The heading linear guide slider is installed on the upper part of the lifting platform plate to guide the heading moving mechanism. The heading linear guide slider and the heading trapezoidal screw are both connected to the tooling support beam of the tooling bracket. The hoisting mechanism is arranged on the outer side of the middle part of the chassis of the vehicle body, and the lateral moving direction is the width direction of the vehicle body, so as to achieve the characteristic of reducing the volume in the width direction of the vehicle body. The first hoisting reducer and the second hoisting reducer both use a worm gear reducer with self-locking characteristics, which can ensure the safety of the hanging process and prevent power failure and falling. Because the lifting arm needs to be folded, the wire rope needs to be synchronized and separated. When the separation gear is selected, gravity can be used to ensure that the blocking rod is in the lower part of the separation slot section. When the synchronization gear is selected, a synchronization slot section is provided to ensure that the blocking rod is stably placed in the synchronization slot section to ensure synchronization stability. The synchronization and separation control of the wire rope is achieved by changing the gear position. A locking mechanism is installed on the inner side of the upper part of the arm lifting point. The locking mechanism includes a locking clamp, a guide positioning column, a spring, an outer cover, a locking screw, and a locking handwheel. This design can ensure the accuracy and stability of the locking positioning process.The guiding column cooperates with the spring to effectively guide the positioning process, and the connecting rod structure drives the locking claw to accurately close and lock, reducing locking errors caused by deviations. It provides a high success rate and reliability for locking. Secondly, the double-hook locking method increases the firmness of the locking. Compared with a single hook, a double hook can distribute the locking force more evenly. This greatly improves the load-bearing capacity and impact resistance, and is suitable for a variety of complex and demanding working environments. After the lifting and locking is in place, the locking screw is manually rotated to achieve positioning and locking to ensure safety. The locking assembly 90 achieves adaptability to box retrieval and lifting and assembly of ammunition with precise guiding design, firm locking method, efficient and convenient operation, and high-quality materials and processes.

[0107] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0108] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one", "one" or "the" do not indicate quantity restrictions, but indicate that there is at least one. Similar words such as "include" or "comprise" mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Similar words such as "connect" or "connected" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

Claims

1. A bullet assembly vehicle, characterized in that: It comprises a vehicle chassis (10), a hoisting mechanism (20), a hoisting transverse movement mechanism (30), a lifting mechanism (40), a missile transverse movement mechanism (50), a launcher clamping mechanism (60) and a missile clamping mechanism (70); The hoisting mechanism (20) comprises a lower support arm (21), an upper support arm (22), a support arm (23), a first hoisting assembly (24) and a second hoisting assembly (25); the lower end of the lower support arm (21) is connected to the vehicle chassis (10) via the hoisting transverse movement mechanism (30); the hoisting transverse movement mechanism (30) can drive the lower support arm (21) to move transversely relative to the vehicle chassis (10); the lower end of the upper support arm (22) is hinged to the upper end of the lower support arm (21); and one end of the support arm (23) is hinged to the upper end of the upper support arm (22); The first lifting assembly (24) and the second lifting assembly (25) are arranged on the support arm (23) at intervals, the first lifting assembly (24) being used to lift a launcher clamping mechanism (60), the launcher clamping mechanism (60) being used to be detachably connected to the launch device (1), and the second lifting assembly (25) being used to lift a missile (2); The bottom of the lifting mechanism (40) is connected to the vehicle chassis (10) via the missile transverse movement mechanism (50); the missile transverse movement mechanism (50) can drive the lifting mechanism (40) to transversely move relative to the vehicle chassis (10); the transverse movement direction of the lifting mechanism (40) is consistent with the transverse movement direction of the lower support arm (21); the missile clamping mechanism (70) is connected to the lifting mechanism (40); the lifting mechanism (40) can drive the missile clamping mechanism (70) to move up and down relative to the vehicle chassis (10); the missile clamping mechanism (70) is used to be detachably connected to the missile (2); The hoisting mechanism (20) has a storage state and a working state. When the hoisting mechanism (20) is in the storage state, the support arm (23) is folded downward at an angle of 90° relative to the upper support arm (22), and the upper support arm (22) is folded downward at an angle of 90° relative to the lower support arm (21). The hoisting mechanism (20) after storage is located as a whole on one side of the lateral movement direction of the lifting mechanism (40); when the hoisting mechanism (20) is in the working state, the upper support arm (22) is unfolded upward at an angle of 180° relative to the lower support arm (21), and the support arm (23) is unfolded upward at an angle of 90° relative to the upper support arm (22), and the other end of the support arm (23) extends along the lateral movement direction of the lower support arm (21).

2. The cartridge assembly vehicle according to claim 1, characterized in that: The vehicle chassis (10) has a concave mounting area (11); The bullet-assembling vehicle comprises two sets of lifting mechanisms (20) arranged opposite to each other, and the two lower support arms (21) of the two sets of lifting mechanisms (20) are both connected to the vehicle chassis (10) via the lifting transverse movement mechanism (30); the hinge point between the lower support arm (21) and the upper support arm (22) of one set of the two lifting mechanisms (20) is higher than the hinge point between the lower support arm (21) and the upper support arm (22) of the other set, and when the two sets of lifting mechanisms (20) are both in the stored state, the set of lifting mechanisms (20) with the higher hinge point is folded to the top of the other set of lifting mechanisms (20) with the lower hinge point; The hoisting and traversing mechanism (30) comprises a hoisting and traversing linear guide rail (31), a hoisting and traversing slider (32), a hoisting and traversing lead screw nut (33), a hoisting and traversing lead screw (34), a hoisting and traversing reducer (35), a first synchronous wheel (36), a second synchronous wheel (37), a synchronous belt (38), a hoisting and traversing drive motor (39) and a hoisting and traversing hand wheel (310); At least one lifting transverse linear guide rail (31) is provided at the left and right ends of the bottom of the installation area (11), each lifting transverse linear guide rail (31) is fixedly connected to the vehicle chassis (10), and each lifting transverse linear guide rail (31) extends along the front-rear direction of the installation area (11); each lifting transverse linear guide rail (31) is provided with at least one lifting transverse sliding block (32) that can slide relative to the lifting transverse linear guide rail (31); two lifting transverse screws (34) are respectively arranged on the inner side of the lifting transverse linear guide rails (31) at the left and right ends, and the two lifting transverse screws (34) can be rotatably arranged on the vehicle chassis (10), and one end of the two lifting transverse screws (34) is connected to a first synchronous wheel (36), and the fixing part of the lifting transverse driving motor (39) is connected to the vehicle chassis (10). ) are fixedly connected, the output end of the hoisting transverse movement drive motor (39) is connected to the input end of the hoisting transverse movement reducer (35), two second synchronous wheels (37) are mounted on the output end of the hoisting transverse movement reducer (35), two synchronous belts (38) are respectively mounted on a corresponding first synchronous wheel (36) and a second synchronous wheel (37), the hoisting transverse movement handwheel (310) is connected to the output end of the hoisting transverse movement reducer (35); the two hoisting transverse movement lead screw nuts (33) are respectively mounted on the two hoisting transverse movement lead screws (34); the two hoisting transverse movement lead screw nuts (33) are respectively connected to the corresponding hoisting transverse movement sliders (32); the two sets of hoisting mechanisms (20) can be driven to move synchronously transversely through the hoisting transverse movement drive motor (39) or the hoisting transverse movement handwheel (310); Wherein, when the hoisting and transverse movement mechanism (30) includes at least four hoisting and transverse movement linear guide rails (31) or at least four hoisting and transverse movement sliders (32), the hoisting and transverse movement mechanism (30) also includes two hoisting and transverse movement top plates (311), and the two hoisting and transverse movement top plates (311) are respectively connected to the top of the corresponding hoisting and transverse movement sliders (32) located at the left and right ends of the installation area (11), and the bottoms of the two lower support arms (21) are respectively fixedly connected to the two hoisting and transverse movement top plates (311); the two hoisting and transverse movement lead screw nuts (33) are connected to the corresponding hoisting and transverse movement sliders (32) through the two hoisting and transverse movement top plates (311).

3. The cartridge assembly vehicle according to claim 1 or 2, characterized in that: The lower surface of the support arm (23) is provided with a first wire rope outlet, a second wire rope outlet and a third wire rope outlet at intervals; the second wire rope outlet is located outside the first wire rope outlet, and the third wire rope outlet is located outside the second wire rope outlet; The first lifting assembly (24) comprises a first driving motor (241), a first lifting reducer (242), a first lifting wheel group (243), a first lifting wire rope (244) and a second lifting wire rope (245); the first lifting wheel group (243) comprises a first transmission wheel (2431) and a plurality of first guide wheels (2432); the first transmission wheel (2431) is provided with a first mounting groove cooperating with the first lifting wire rope (244) and a second mounting groove cooperating with the second lifting wire rope (245); each first guide wheel (2432) is provided with a first guide groove cooperating with the first lifting wire rope (244) and a second guide groove cooperating with the second lifting wire rope (245); The first driving motor (241) and the first hoisting reducer (242) are installed on the outside of the upper support arm (22); the first transmission wheel (2431) is located in the upper support arm (22); the output end of the first hoisting reducer (242) is drivingly connected to the first transmission wheel (2431); a plurality of first guide wheels (2432) are arranged in the support arm (23) at intervals; the first hoisting steel wire rope (244) is guided by the first installation groove and the plurality of first guide grooves and extends from the first steel wire rope outlet; the second hoisting steel wire rope (245) is guided by the second installation groove and the plurality of second guide grooves and extends from the second steel wire rope outlet; The second lifting assembly (25) comprises a second drive motor (251), a second lifting reducer (252), a second lifting wheel set (253) and a third lifting wire rope (254); the second lifting wheel set (253) comprises a second transmission wheel (2531) and a plurality of second guide wheels (2532); the second transmission wheel (2531) is provided with a third mounting groove for cooperating with the third lifting wire rope (254); and each second guide wheel (2532) is provided with a third guide groove for cooperating with the third lifting wire rope (254); The second drive motor (251) and the second hoisting reducer (252) are installed on the outside of the upper support arm (22) and are spaced apart from the first drive motor (241) and the first hoisting reducer (242); the second transmission wheel (2531) is located in the upper support arm (22) and is spaced apart from the first transmission wheel (2431); the output end of the second hoisting reducer (252) is drivingly connected to the second transmission wheel (2531); a plurality of second guide wheels (2532) are spaced apart in the support arm (23) and are arranged side by side with the plurality of first guide wheels (2432); the third hoisting wire rope (254) extends out from the third wire rope outlet through the guidance of the third installation groove and the plurality of third guide grooves.

4. The cartridge assembly vehicle according to claim 3, characterized in that: The bullet assembly vehicle further comprises a rope collecting mechanism (80), wherein the rope collecting mechanism (80) comprises an outer cover (81), a first transmission rod (82), a second transmission rod (83), a first hoisting input force gear (84), a second hoisting input force gear (85), a synchronous gear (86), a synchronous rod (87), a shift rod (88), a first rope collecting hand wheel (89), and a second rope collecting hand wheel (810); The outer cover (81) is connected to the upper support arm (22) and is located below the first hoisting reducer (242) and the second hoisting reducer (252); The first hoisting reducer (242) has two input ends, the first drive motor (241) is connected to the input end of the first hoisting reducer (242) located at the top, one end of the first transmission rod (82) is connected to the input end of the first hoisting reducer (242) located at the bottom, the other end of the first transmission rod (82) is rotatably inserted into the outer cover (81), the first hoisting input gear (84) is sleeved on the first transmission rod (82), the first hoisting input gear (84) is located in the outer cover (81) and can rotate synchronously with the first transmission rod (82); The second hoisting reducer (252) has two input ends, the second drive motor (251) is connected to the input end of the second hoisting reducer (252) located at the top, one end of the second transmission rod (83) is connected to the input end of the second hoisting reducer (252) located at the bottom, the other end of the second transmission rod (83) is rotatably inserted into the outer cover (81), the second hoisting input gear (85) is sleeved on the second transmission rod (83), the second hoisting input gear (85) is located in the outer cover (81) and can rotate synchronously with the second transmission rod (83); The first transmission rod (82) is parallel to the second transmission rod (83), and the first hoisting input force gear (84) and the second hoisting input force gear (85) are at the same height in the vertical direction; the synchronization rod (87) is rotatably inserted into the outer cover (81) and is located between the first transmission rod (82) and the second transmission rod (83), and the synchronization gear (86) is sleeved on the synchronization rod (87); the synchronization rod (87) is provided with a shift notch (871), and the outer cover (81) is provided with a shift groove (811) arranged opposite to the shift notch (871), and the shift groove (811) includes a separation groove section (8111) and a synchronization groove section (8112) which are connected to each other, and the side surface of the synchronization groove section (8112) is connected to the top of the side surface of the separation groove section (8111); One end of the shift lever (88) is hinged to the upper support arm (22), and the other end of the shift lever (88) passes through the shift notch (871) and the shift groove (811) to the outside of the outer cover (81); The shift lever (88) has a separation position and a synchronization position, and the separation position is located below the synchronization position; the shift lever (88) can drive the synchronization lever (87) to drive the synchronization gear (86) to move up and down; when the shift lever (88) is located at the synchronization position, the shift lever (88) is located in the synchronization groove section (8112), and the synchronization gear (86) is meshed with both the first hoisting input force gear (84) and the second hoisting input force gear (85); when the shift lever (88) is located at the separation position, the shift lever (88) is located in the separation groove section (8111), and the synchronization gear (86) is separated from both the first hoisting input force gear (84) and the second hoisting input force gear (85); The first rope collecting hand wheel (89) is drivingly connected to the lower end of the first transmission rod (82), and the second rope collecting hand wheel (810) is drivingly connected to the lower end of the second transmission rod (83).

5. The cartridge assembly vehicle according to claim 1 or 2, characterized in that: The launching part clamping mechanism (60) comprises a main frame (61), a screw support (62), a driving screw (63), an adjusting hand wheel (64), a driving screw nut (65), a launching part clamping claw (66), a connecting roller (67), a storage roller (68), a storage guide (69), a positioning member (610) and a connecting member (611): The main frame (61) comprises a first crossbeam (6101) and two second crossbeams (6102) connected to each other, the middle of each second crossbeam (6102) being connected to two ends of the first crossbeam (6101), and the upper surfaces of the two ends of each second crossbeam (6102) are respectively provided with two lifting points for cooperating with the first lifting assembly (24); Two driving screws (63) are rotatably mounted on the main frame (61) through the screw supports (62), one end of each driving screw (63) extends out from a mounting hole (6103) on the second beam (6102) and is connected to an adjusting hand wheel (64), and the other end of each driving screw (63) extends along the extension direction of the first beam (6101) to the inside of the first beam (6101); the two driving screw nuts (65) are respectively mounted on the two driving screws (63); and the two connecting members (611) are respectively connected to the two driving screw nuts (65); An adjustment hole (6104) is provided on the side wall of the first crossbeam (6101), and two adjustment holes (6104) arranged opposite to each other on the two side walls form a group of adjustment holes. The first crossbeam (6101) is provided with two groups of adjustment holes. The storage guide (69) is fixedly connected to the first crossbeam (6101), and a storage guide (69) is installed at each of the adjustment holes (6104). The storage guide (69) is provided with a turnover guide groove (691), and the turnover guide groove (691) comprises an adjustment groove section (6911) and a storage groove section (6912) which are connected and arranged in an L shape. The adjustment groove section (6911) corresponds to the adjustment hole (6104), and the storage groove section (6912) extends in the vertical direction. A launching portion clamp (66) is connected to both sides of each connecting member (611); wherein each launching portion clamp (66) comprises a mounting block (661), a first arm (662), a second arm (663) and a buckle structure (664) connected in sequence, the first arm (662) extending along the extension direction of the second crossbeam (6102), the second arm (663) being perpendicular to the first arm (662), and the buckle structure (664) being perpendicular to the second arm (663); The mounting block (661) of each of the launching portion clamping jaws (66) is rotatably connected to the connecting member (611) via a rotating shaft, and each of the rotating shafts is provided with a connecting roller (67), and the connecting roller (67) is rollingly connected to the groove wall of the flip guide groove (691); each of the launching portion clamping jaws (66) is also connected to a receiving roller (68), and the receiving roller (68) is located on one side of the connecting roller (67) and is rollingly connected to the groove wall of the flip guide groove (691); The launching portion clamp (66) has a use state and a storage state. When the launching portion clamp (66) is in the use state, the storage roller (68) and the connecting roller (67) are located in the adjustment slot section (6911), the second arm (663) extends in the vertical direction, and the buckle structure (664) extends in the horizontal direction. When the launching portion clamp (66) is in the storage state, the storage roller (68) and the connecting roller (67) are located in the storage slot section (6912), the second arm (663) extends in the horizontal direction, and the buckle structure (664) extends in the vertical direction. At least one positioning member (610) is connected to the bottom of the main frame (61), and a positioning hole matching the positioning member (610) is provided on the launching device (1); The launching device (1) is provided with a slot structure that cooperates with the buckle structure (664); the launching part clamping mechanism (60) has a clamping state and a non-clamping state; when the launching part clamping mechanism (60) is in the clamping state, the buckle structure (664) extends into the slot structure; when the launching part clamping mechanism (60) is in the non-clamping state, the buckle structure (664) escapes from the slot structure.

6. The cartridge assembly vehicle according to claim 5, characterized in that: The bullet assembling vehicle further comprises a locking assembly (90), wherein the locking assembly (90) is arranged on a support arm (23) of the hoisting mechanism (20) and is used to lock the launching unit clamping mechanism (60) on the support arm (23); the locking assembly (90) comprises a mounting box (91), a positioning column (92), a transmission plate (93), a guide column (94), a spring (95), a first connecting plate (96), a second connecting plate (97), a locking screw (98) and a locking hand wheel (99); The lower surface of the installation box (91) is provided with an assembly hole (913), the upper surface of the installation box (91) is provided with a guide hole (911), and the lower surface of the installation box (91) is further provided with two clearance holes (912), the two clearance holes (912) are respectively located on the left and right sides of the assembly hole (913); In a direction from top to bottom, the positioning column (92) comprises a mounting section (921), a stop section (922) and a positioning section (923) which are connected in sequence, the diameter of the stop section (922) being larger than the diameter of the mounting section (921), and the diameter of the stop section (922) being larger than the diameter of the positioning section (923); The guide column (94) is movably inserted into the guide hole (911), the lower end of the guide column (94) is connected to the upper end of the transmission disk (93), the transmission disk (93) is movably arranged in the installation box (91), the installation section (921) is movably inserted into the assembly hole (913) in a vertical direction, the upper end of the installation section (921) is connected to the lower end of the transmission disk (93); the spring (95) is sleeved on the installation section (921), the diameter of the spring (95) is larger than the diameter of the assembly hole (913), and the two ends of the spring (95) are respectively in contact with the upper surface of the stop section (922) and the lower surface of the installation box (91); The second connecting plate (97) comprises a first plate segment (971), a second plate segment (972) and a third plate segment (973) which are connected in sequence at an angle; the upper ends of the two first connecting plates (96) are respectively hinged to the left and right ends of the transmission plate (93); the lower ends of the two first connecting plates (96) are respectively hinged to the upper ends of the two first plate segments (971); the two second connecting plates (97) are respectively hinged to the installation box (91); the intersection point is located at the connection between the first plate segment (971) and the second plate segment (972); the lower ends of the two second plate segments (972) extend out from the two clearance holes (912); and the two third plate segments (973) extend in a direction close to each other to form a double hook structure; The upper surface of the first crossbeam (6101) is provided with a positioning pin hole (6105) adapted to the positioning section (923), and the diameter of the positioning pin hole (6105) is smaller than the diameter of the stop section (922); the main frame (61) further comprises a limiting plate (612), and one limiting plate (612) is respectively installed on both sides of the first crossbeam (6101); A fixing hole (931) is provided in the middle of the transmission plate (93); the locking screw (98) is rotatably mounted on the support arm (23), one end of the locking screw (98) extends into the mounting box (91) to cooperate with the fixing hole (931), and the other end of the locking screw (98) is connected to the locking hand wheel (99); The locking assembly (90) has a locking state and a non-locking state. The launching portion clamping mechanism (60) moves upward under the drive of the first lifting assembly (24). The positioning section (923) extends into the positioning pin hole (6105). The spring (95) is in a compressed state. The positioning column (92) and the transmission plate (93) move upward and drive the double hook structure to rotate in a direction close to each other. The two third plate sections (973) extend in a horizontal direction and are respectively located below the two limit plates (612). The upper surfaces of the two third plate sections (973) are respectively in contact with the two limit plates (612). The locking assembly (90) is in the locked state; the locking hand wheel (99) is rotated to drive the locking screw (98) to be released from the fixing hole (931), the positioning column (92) and the transmission plate (93) are moved downward under the action of the spring (95), the double hook structure is rotated in a direction away from each other, the two third plate segments (973) are disengaged from the two limit plates (612), and the locking assembly (90) is in the unlocked state.

7. The cartridge assembly vehicle according to claim 1 or 2, characterized in that: The missile clamping mechanism (70) comprises a tooling support beam (71), a tooling bracket (73) and at least one missile clamping assembly (72), wherein the tooling support beam (71) is fixedly connected to the upper end of the lifting mechanism (40), the tooling support beam (71) comprises a middle support beam, two end support beams and two support rotating shafts, the two end support beams are respectively connected to the middle support beam via a support rotating shaft, the tooling bracket (73) comprises a middle bracket and two end brackets, the middle bracket is slidably connected to the middle support beam, the two end brackets are respectively slidably connected to the two end support beams, the sides of the middle bracket and the two end brackets are provided with a plurality of fixing pin holes, the missile clamping assembly (72) is detachably connected to the tooling bracket (73), and the missile clamping assembly (72) is fixed to the tooling bracket (73) by the cooperation of a fixing pin and the fixing pin hole; When the missile clamping mechanism (70) includes a plurality of missile clamping assemblies (72), the plurality of missile clamping assemblies (72) are arranged at intervals along the extension direction of the missile (2); The missile clamping assembly (72) comprises a curved surface receiving member (721), an adjustment support arm (722) and a pin (723); the curved surface receiving member (721) has two receiving curved surfaces (7211) arranged opposite to each other, each receiving curved surface (7211) being used to match the curved surface of the missile (2); the adjustment support arm (722) has two receiving planes (7221) arranged in an L shape, each receiving plane (7221) being used to match the plane of the missile (2); the two adjustment support arms (722) are respectively hinged to two ends of the curved surface receiving member (721); the two adjustment support arms (722) are symmetrically arranged on the outside of the two receiving curved surfaces (7211); a first connecting hole (7212) is respectively provided at two ends of the curved surface receiving member (721); and a second connecting hole (7222) is provided on each of the two adjustment support arms (722); The adjusting arm (722) has a first position and a second position. When the adjusting arm (722) is rotated upward, the first connecting hole (7212) and the corresponding second connecting hole (7222) are arranged opposite to each other, and the pin plug (723) is inserted into the first connecting hole (7212) and the second connecting hole (7222), the adjusting arm (722) is located at the first position; when the pin plug (723) is not inserted into the first connecting hole (7212) and the adjusting arm (722) is rotated downward, the adjusting arm (722) is located at the second position.

8. The cartridge assembly vehicle according to claim 7, characterized in that: The missile traverse mechanism (50) comprises a missile traverse linear guide rail (51), a missile traverse slider (52), a missile traverse drive motor (53), a missile traverse hand wheel (54), a missile traverse reducer (55), a missile traverse lead screw (56), a missile traverse lead screw nut (57) and a missile traverse top plate (58); At least one of the missile traverse linear guide rails (51) is fixedly connected to the vehicle chassis (10), at least one of the missile traverse sliders (52) is slidably connected to the missile traverse linear guide rails (51), the missile traverse lead screw (56) is rotatably arranged on the vehicle chassis (10), the fixed portion of the missile traverse drive motor (53) is fixedly connected to the vehicle chassis (10), the output end of the missile traverse drive motor (53) is connected to an input end of the missile traverse reducer (55), the missile traverse hand wheel (54) is connected to the other input end of the missile traverse reducer (55), the output end of the missile traverse reducer (55) is drivingly connected to the missile traverse lead screw (56), the missile traverse lead screw nut (57) is sleeved on the missile traverse lead screw (56), and the lower surface of the missile traverse top plate (58) is connected to the missile traverse slider (52) and the top of the missile traverse lead screw nut (57); The lifting mechanism (40) is a scissor lift mechanism; the scissor lift mechanism comprises a first scissor support arm (41), a second scissor support arm (42), a hinge shaft (43), a scissor fixed hinge base (44), a hydraulic cylinder (45), a hydraulic cylinder fixed base (46), a bottom sliding seat (47), a bottom guide rail (48), a bottom guide rail slider (49), an upper guide rail (410), an upper guide rail slider (411), and a lifting platform plate (412); The two scissor-fixed hinged bases (44) are fixedly installed on the missile transverse top plate (58) at intervals, the two bottom guide rails (48) are fixedly installed on the missile transverse top plate (58) at intervals, each bottom guide rail (48) is slidably connected to a bottom guide rail slider (49), and the bottom sliding seat (47) is connected to the two bottom guide rail sliders (49) on the two bottom guide rails (48); The middle parts of the two first scissor arms (41) and the middle parts of the two second scissor arms (42) are respectively hinged via two hinge shafts (43) in a one-to-one correspondence; the lower ends of the two second scissor arms (42) are respectively hinged to the two ends of the bottom sliding seat (47); the lower ends of the two first scissor arms (41) are respectively hinged to the two scissor fixed hinge bases (44); the fixed part of the hydraulic cylinder (45) is fixedly mounted on the missile traverse top plate (58) via the hydraulic cylinder fixed base (46); The output end of the hydraulic cylinder (45) is fixedly connected to the bottom sliding seat (47); the upper ends of the two second scissor-type support arms (42) are respectively hinged to the two sides of the first end of the lifting platform plate (412); an upper guide rail (410) is respectively fixed to the two sides of the second end of the lifting platform plate (412); each of the upper guide rails (410) is slidably connected to an upper guide rail slider (411); and the upper ends of the two first scissor-type support arms (41) are respectively hinged to the two upper guide rail sliders (411); The missile assembly vehicle further comprises a heading moving mechanism (100), and the missile clamping mechanism (70) is connected to the lifting mechanism (40) via the heading moving mechanism (100); the lateral movement direction of the heading moving mechanism (100) is perpendicular to the lateral movement direction of the missile lateral movement mechanism (50); The heading movement mechanism (100) comprises a heading linear guide rail (101), a heading lead screw (102), a heading lead screw nut (103), a heading drive motor (104), a heading hand wheel (105), a heading connection block (106) and a heading slider (107); At least one of the heading linear guide rails (101) is fixedly arranged on the lifting mechanism (40), and at least one heading slider (107) is installed on the heading linear guide rail (101); the heading lead screw (102) is rotatably installed on the lifting mechanism (40), and the extension direction of the heading lead screw (102) is the same as the extension direction of the two heading linear guide rails (101), and the heading lead screw nut (103) is sleeved on the heading lead screw (102). The connecting block (106) is connected to the heading screw nut (103), and the heading connecting block (106) and the heading sliding block (107) are both connected to the lower surface of the tooling support beam (71); the fixed end of the heading drive motor (104) is fixedly connected to the lifting mechanism (40), the output end of the heading drive motor (104) is drivingly connected to one end of the heading screw (102), and the heading hand wheel (105) is drivingly connected to the other end of the heading screw (102).

9. The cartridge assembly vehicle according to claim 1, characterized in that: The bullet-assembling vehicle further comprises an auxiliary support mechanism (110), the auxiliary support mechanism (110) comprising an auxiliary hydraulic cylinder (111), a connecting portion (112) and a supporting portion (113); one end of the connecting portion (112) is hinged to the vehicle chassis (10), and the other end of the connecting portion (112) is detachably connected to the supporting portion (113); one end of a fixing portion of the auxiliary hydraulic cylinder (111) is hinged to the vehicle chassis (10), and an output end of the auxiliary hydraulic cylinder (111) is hinged to the connecting portion (112); the vehicle chassis (10) has a storage space, and the connecting portion (112) is controlled to extend out of the storage space or retract into the storage space by controlling the extension and retraction of the output end of the auxiliary hydraulic cylinder (111); The bullet assembly vehicle further comprises a visual camera system (120), wherein the visual camera system (120) is arranged on the vehicle chassis (10), and the visual camera system (120) comprises a binocular camera and a control component, wherein the binocular camera and the control component are connected via a communication cable; The bullet-assembly vehicle further comprises a wireless charging component (130), the wireless charging component (130) comprising a receiving component (131) and a transmitting component (132), the receiving component (131) and the transmitting component (132) being arranged at the bottom of the vehicle chassis (10); wherein the receiving component (131) comprises a receiving controller and a receiving coil, the transmitting component (132) comprises a transmitting coil and a transmitting controller assembly, the receiving controller and the receiving coil are electrically connected, the transmitting controller and the transmitting coil are electrically connected, and the transmitting controller and the receiving controller are wirelessly connected.

10. A missile assembly method, characterized in that: The missile assembly method is performed by a missile assembly vehicle according to any one of claims 1 to 9, and the missile assembly method comprises the following steps: Putting the hoisting mechanism (20) of the ammunition assembly vehicle into working state; The hoisting mechanism (20) is driven to move to a launcher pickup position by a hoisting transverse movement mechanism (30) of the ammunition assembly vehicle, the launcher (1) is clamped by a launcher clamping mechanism (60), and the launcher (1) is hoisted by a first hoisting assembly (24) of the ammunition assembly vehicle; The hoisting mechanism (20) is driven to move to a missile pickup position by a hoisting transverse movement mechanism (30) of the missile assembly vehicle, and the missile (2) is hoisted by a second hoisting assembly (25) of the missile assembly vehicle; The missile (2) is placed on the missile clamping mechanism (70) of the missile assembly vehicle by means of a lifting mechanism (20); The missile clamping mechanism (70) is driven by the missile transverse movement mechanism (50) to move to a missile assembly position corresponding to the launch device (1); The missile clamping mechanism (70) and the missile (2) are driven to move upward by the lifting mechanism (40) of the missile assembly vehicle, so that the missile (2) is assembled onto the launching device (1).

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