Multi-degree-of-freedom large rocket supporting and holding device

Abstract

The invention provides a multi-degree-of-freedom large rocket supporting and holding device. The multi-degree-of-freedom large rocket supporting and holding device comprises a holding mechanism; the enclasping mechanisms are rotatably mounted on the two sides of the transverse moving mechanism, the supporting mechanism is mounted in the middle of the transverse moving mechanism, and the supporting mechanism and the enclasping mechanisms on the two sides form a circular hoop shape; the enclasping mechanism and the transverse moving mechanism are connected through a transverse moving support in a structural part hinging mode, an electric push rod is connected with the enclasping mechanism and the transverse moving mechanism, and the electric push rod drives the enclasping mechanism to rotate relative to the transverse moving mechanism through stretching out and drawing back; the supporting mechanism is fixed to the transverse moving mechanism through bolts. The device can adapt to adjustment of the rocket in multiple directions, and effective supporting of the loading rocket can be achieved; the holding arm mechanism can realize holding in the rocket transportation and erection process, the opening angle of the holding arm mechanism is large in the installation process, a larger space is provided for lifting of the rocket, dead point self-locking can be realized, and the reliability is improved; the structure is compact and the integration level is high.

Description

Technical Field

[0001] The invention relates to a multi-freedom large-scale rocket supporting and clamping device, belonging to the technical field of mechanical design. Background Art

[0002] With the rapid development of my country's aerospace technology, the "three horizontal and one vertical" launch method has been widely used. Under the new situation, the requirements for rocket transportation and erection technology are getting higher and higher, especially for the safe transportation and reliable erection of rockets. It is required that the support and clamping device can support and clamp the front end of the rocket during the transportation of the rocket, and can adapt to the clamping of different rockets to a certain extent, and provide guarantee for the launch of the rocket during the erection of the rocket. Although there are many kinds of support and clamping devices, most of them adopt fixed position support and clamping, with low degree of freedom and insufficient adaptability, and cannot realize the small space integrated installation, clamping adaptation and large angle opening of the arm. Summary of the invention

[0003] In order to solve the above-mentioned technical problems, the present invention provides a large-scale rocket supporting and clamping device with multiple degrees of freedom. The large-scale rocket supporting and clamping device with multiple degrees of freedom can meet the requirements of small installation space, large clamping and opening angles; during the transportation and erection of the rocket, it can meet the requirements of flipping, lateral adjustment and support, meet the adjustments in the axial, radial and flipping directions, and meet the requirements of transportation and erection.

[0004] The present invention is achieved through the following technical solutions.

[0005] The present invention provides a multi-degree-of-freedom large-scale rocket supporting and clamping device, comprising a clamping mechanism; the clamping mechanism can be rotatably installed on both sides of a transverse movement mechanism, a supporting mechanism is installed in the middle of the transverse movement mechanism, and the supporting mechanism and the clamping mechanisms on both sides form a circular clamping hoop shape; the clamping mechanism and the transverse movement mechanism are connected in the form of a structural hinge through a transverse movement bracket, and an electric push rod is provided to connect the clamping mechanism and the transverse movement mechanism, and the electric push rod drives the clamping mechanism to rotate relative to the transverse movement mechanism through telescoping; the supporting mechanism is fixed to the transverse movement mechanism by bolts; the transverse movement mechanism is installed on a ball guide rail and can move along the ball guide rail, and the ball guide rail is connected to the mounting surface of the erection frame by bolts.

[0006] The clamping mechanism includes an arm, one end of which is rotatably mounted with a clamping block, and the other end of which is rotatably mounted on a transverse mechanism. The arm is in the shape of an arc block, and a connecting rod is rotatably mounted on the arc-shaped back side of the arm, and a main connecting rod is rotatably mounted on the connecting rod, and the main connecting rod is rotatably mounted on the transverse mechanism, and an electric push rod is connected to the connecting position of the connecting rod and the main connecting rod.

[0007] A proximity switch is arranged on the holding block.

[0008] The transverse movement mechanism comprises a transverse movement bracket, which is mounted on a ball guide rail. The ball guide rail is provided with an in-position locking rod, which locks the transverse movement bracket through a nut.

[0009] A transverse fixed nut is fixed on the transverse bracket, a transverse screw is installed on a fixed seat through a bearing, the fixed seat is fixed to the ball guide rail, a handwheel is fixed to the end of the transverse screw, and the threads of the transverse screw and the transverse fixed nut are matched so that the transverse fixed nut is displaced along the installation direction of the transverse screw when the transverse screw rotates.

[0010] A proximity switch is installed at the top of the transverse support near the clamping mechanism.

[0011] The support mechanism includes a support box body, which is installed on a mounting frame. The top surface of the support box body is arc-shaped. A plurality of spiral elevators are installed at the bottom of the mounting frame. The spiral elevators are fixed on the transverse movement mechanism and driven to move up and down through a lifting connecting rod. A lifting drive motor is fixed on the transverse movement mechanism to drive the lifting connecting rod.

[0012] A transverse driving motor is fixed on the support box, and a transverse screw is installed on the output shaft of the transverse driving motor. The transverse screw is rotatably installed on the bearing support through a bearing. The bearing support is fixed to the support box, and a support nut is sleeved on the transverse screw to form a screw pair structure. The support nut is fixed to the mounting frame, and a guide rail is also fixed on the mounting frame. The support box is mounted on the guide rail, and the guide rail and the transverse screw are in the same direction.

[0013] A rubber plate is fixed on the arc surface of the supporting box; an inductive proximity switch is installed at the center of the rubber plate.

[0014] The bottom of the mounting frame is also fixed with a guide post and guide sleeve for vertical guide limiting, and the transverse movement mechanism is provided with a guide sleeve for the guide post and guide sleeve to pass through, and the guide sleeve is provided with a lower limit proximity switch.

[0015] The beneficial effects of the present invention are: it can adapt to the adjustment of multiple directions of the rocket and can achieve effective support for the mounted rocket; it can achieve tight holding during the transportation and erection of the rocket, and the arm mechanism can open at a larger angle during the installation process, providing a larger space for the hoisting of the rocket, and can achieve dead point self-locking to improve reliability; it has a compact structure and a high degree of integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 for Figure 1 A schematic diagram of the structure of the middle clamping mechanism in another posture;

[0018] Figure 3 for Figure 1A schematic diagram of the structure of the holding arm of the middle holding mechanism;

[0019] Figure 4 for Figure 1 Structural diagram of the middle support mechanism;

[0020] Figure 5 for Figure 1 Structural diagram of the middle transverse movement mechanism;

[0021] Figure 6 for Figure 5 Schematic diagram of the local structure from another perspective.

[0022] In the figure: 1-holding mechanism, 11-proximity switch, 12-holding block, 13-arm, 14-connecting rod, 15-main connecting rod, 2-supporting mechanism, 21-rubber plate, 22-support box, 23-transverse driving motor, 24-mounting frame, 25-screw lift, 26-guide column and guide sleeve, 27-lifting driving motor, 28-lifting connecting rod, 29-lower limit proximity switch, 210-support nut, 211-guide rail, 212-bearing support, 213-bearing, 214-transverse screw, 215-inductive proximity switch, 3-transverse mechanism, 31-ball guide rail, 32-transverse bracket, 33-in-place locking rod, 34-proximity switch, 35-transverse screw, 36-handwheel, 37-fixed seat, 38-bearing, 39-transverse fixed nut, 4-electric push rod. DETAILED DESCRIPTION

[0023] The technical solution of the present invention is further described below, but the scope of protection claimed is not limited to the description.

[0024] Example 1

[0025] like Figures 1 to 6 A multi-degree-of-freedom large rocket supporting and clamping device is shown, comprising a clamping mechanism 1; the clamping mechanism 1 can be rotatably installed on both sides of a transverse mechanism 3, a supporting mechanism 2 is installed in the middle of the transverse mechanism 3, and the supporting mechanism 2 and the clamping mechanisms 1 on both sides form a circular hoop shape; the clamping mechanism 1 and the transverse mechanism 3 are connected in the form of a structural hinge through a transverse bracket 32, and an electric push rod 4 is provided to connect the clamping mechanism 1 and the transverse mechanism 3, and the electric push rod 4 drives the clamping mechanism 1 to rotate relative to the transverse mechanism 3 by telescoping; the supporting mechanism 2 is fixed to the transverse mechanism 3 by bolts; the transverse mechanism 3 is installed on a ball guide rail 31 and can move along the ball guide rail 31, and the ball guide rail 31 is connected to the mounting surface of the erection frame by bolts.

[0026] Example 2

[0027] Based on Example 1, the clamping mechanism 1 includes an arm 13, one end of which is rotatably mounted with a clamping block 12, and the other end of the arm 13 is rotatably mounted on the transverse mechanism 3. The arm 13 is an arc-shaped block, and a connecting rod 14 is rotatably connected and installed on the arc-shaped back side of the arm 13. The connecting rod 14 is rotatably connected and installed with a main connecting rod 15, and the main connecting rod 15 is rotatably connected and installed on the transverse mechanism 3. The electric push rod 4 is connected to the connecting position of the connecting rod 14 and the main connecting rod 15.

[0028] Furthermore, a proximity switch 11 is mounted on the holding block 12 .

[0029] Example 3

[0030] Based on Example 1, the transverse movement mechanism 3 includes a transverse movement bracket 32, which is mounted on the ball guide rail 31. The ball guide rail 31 is equipped with a locking rod 33, which locks the transverse movement bracket 32 ​​through a nut.

[0031] Furthermore, a transverse fixed nut 39 is fixed on the transverse bracket 32, and a transverse screw 35 is installed on a fixed seat 37 through a bearing 38. The fixed seat 37 is fixed to the ball guide rail 31, and a handwheel 36 is fixed to the end of the transverse screw 35. The threads of the transverse screw 35 and the transverse fixed nut 39 are matched so that when the transverse screw 35 rotates, the transverse fixed nut 39 is displaced along the installation direction of the transverse screw 35.

[0032] Furthermore, a proximity switch 34 is installed at a position on the top of the transverse moving bracket 32 ​​close to the clamping mechanism 1 .

[0033] Example 4

[0034] Based on Example 1, the support mechanism 2 includes a support box 22, which is installed on a mounting frame 24. The top surface of the support box 22 is arc-shaped, and multiple spiral elevators 25 are installed at the bottom of the mounting frame 24. The spiral elevators 25 are fixed on the transverse movement mechanism 3 and driven to move up and down through a lifting connecting rod 28. A lifting drive motor 27 is fixed on the transverse movement mechanism 3 to drive the lifting connecting rod 28.

[0035] Furthermore, a transverse driving motor 23 is fixed on the support box 22, and a transverse screw 214 is installed on the output shaft of the transverse driving motor 23. The transverse screw 214 is rotatably installed on the bearing support 212 through the bearing 213. The bearing support 212 is fixed to the support box 22, and a support nut 210 is mounted on the transverse screw 214 to form a screw substructure. The support nut 210 is fixed to the mounting frame 24, and a guide rail 211 is also fixed on the mounting frame 24. The support box 22 is mounted on the guide rail 211, and the guide rail 211 and the transverse screw 214 are in the same direction.

[0036] Furthermore, a rubber plate 21 is fixed on the arc surface of the supporting box 22 ; an inductive proximity switch 215 is installed at the center of the rubber plate 21 .

[0037] Furthermore, a guide post and guide sleeve 26 is fixed to the bottom of the mounting frame 24 for vertical guide limiting, and a guide sleeve is provided on the transverse movement mechanism 3 for the guide post and guide sleeve 26 to pass through, and a lower limit proximity switch 29 is installed on the guide sleeve.

[0038] Example 5

[0039] Based on the above embodiment, the clamping mechanism 1 and the transverse mechanism 3 are connected through the transverse bracket 32, and are connected in the form of structural parts hinged; the supporting mechanism 2 and the transverse mechanism 3 are connected by bolts; the transverse mechanism 3 is fixed on the ball guide rail 31 for movement, and the ball guide rail 31 is connected to the mounting surface of the erection frame by bolts; the electric push rod 4 connects the clamping mechanism 1 and the transverse mechanism 3, and drives the clamping mechanism 1 to rotate around the fixed point of the transverse mechanism 3 through telescoping.

[0040] The clamping mechanism 1 is composed of a proximity switch 11, a clamping block 12, an arm 13, a connecting rod 14, and a main connecting rod 15. The proximity switch 11 is connected to the clamping block 12 through bolts, the clamping block 12 and the arm 13 are hinged through a connecting pin, and the arm 13, the main connecting rod 15 and the connecting rod 14 are hinged through a connecting shaft.

[0041] The support mechanism 2 is mainly composed of a rubber plate 21, a support box 22, a traverse drive motor 23, a mounting frame 24, a spiral lift 25, a guide column guide sleeve 26, a lifting drive motor 27, a lifting connecting rod 28, a lower limit proximity switch 29, a support nut 210, a guide rail 211, a bearing support 212, a bearing 213, a traverse screw 214, and an inductive proximity switch 215. The support mechanism 2 uses two sets of spiral lifts 25 and one set of guide column guide sleeve 26. The lifting drive motor 27 is bolted to the traverse mechanism 3. The spiral lift 25 is connected to the traverse mechanism 3 by bolts. The mechanism 3 is connected to the mounting frame 24, the guide column and guide sleeve 26 are connected to the mounting frame 24 by bolts, the support box 22 and the support nut 210 are connected to the mounting frame 24 by bolts, the transverse drive motor 23 and the bearing support 212 are connected to the support box 22 by bolts, the rubber plate 21 is bonded to the support box 22, the inductive proximity switch 215 is installed on the support box 22, the transverse drive motor 23 drives the transverse screw 214 to rotate, drives the support box 22 to move, and the lifting connecting rod 28 drives the spiral lift 25 to work, driving the mounting frame 24 to move up and down.

[0042] The transverse movement mechanism 3 is mainly composed of a ball guide rail 31, a transverse movement bracket 32, an in-position locking rod 33, a proximity switch 34, a transverse movement screw 35, a handwheel 36, a fixed seat 37, a bearing 38, and a transverse movement fixed nut 39. The left and right ball guide rails 31 connect the vertical frame and the transverse movement bracket 32 ​​through bolts, the in-position locking rod 33 locks the transverse movement bracket 32 ​​through a nut, the proximity switch 34 is fixed to the transverse movement bracket 32 ​​with screws, the handwheel 36 is connected to the transverse movement screw 35, the transverse movement screw 35 cooperates with the transverse movement fixed nut 39 for transmission, the transverse movement fixed nut 39 is fixed to the transverse movement bracket 32, the bearing 38 is installed on the fixed seat 37, and the rotation of the handwheel 36 drives the transverse movement screw 35 to rotate, thereby driving the transverse movement fixed nut 39 to move transversely.

[0043] The electric push rod 4 is hinged to the clamping mechanism 1 and the transverse mechanism 3 through a pin shaft. The telescopic movement of the electric push rod drives the clamping mechanism to rotate around the fixed point of the transverse bracket, thereby achieving the clamping and releasing of the rocket.

[0044] In general, the specific methods used in practice are as follows:

[0045] 1) Hoist the entire support and clamping device to the corresponding installation position on the erection frame, tighten the bolts to fix the support and clamping device, and adjust the support mechanism down to the support lower limit proximity switch induction;

[0046] 2) The electric push rod is retracted to the position where the clamping mechanism is fully opened until the proximity switch is turned on;

[0047] 3) After the rocket is hoisted onto the erection frame, according to the actual situation of the rocket, turn the hand wheel to move the support and clamping mechanism forward and backward to the appropriate clamping position, and lock the locking rod in place;

[0048] 3) The lateral drive motor works to adjust the left and right movement of the support mechanism so that the support mechanism is aligned with the center line of the rocket and fits closely;

[0049] 4) The electric push rod extends and drives the clamping mechanism to clamp the clamping block to the proximity switch induction;

[0050] 5) When the rocket is in the erection state, when the erection frame falls back and forward, the electric push rod retracts, drives the clamping mechanism to open, and the erection frame falls back. When the erection frame is re-embraced, the felt of the support mechanism contacts the surface of the rocket, the support zero position proximity switch is sensed, the electric push rod extends, and drives the clamping mechanism to clamp to the clamping block and sense the clamping proximity switch.

[0051] Thus, the present invention:

[0052] 1. The lifting machine and the guide column and guide sleeve are used to achieve lifting and lowering, which can adapt to the adjustment of the rocket in the up and down direction. The driving motor drives the support mechanism box to move left and right, which can adapt to the adjustment in the left and right directions. The hand wheel, screw nut and ball guide rail are used to achieve the front and back movement of the support clamping device, which can adapt to the adjustable front and back clamping position of the rocket;

[0053] 2. The large-angle bracket structure can effectively support the rocket mounted on it;

[0054] 3. The symmetrical clamping mechanism can realize the clamping during the transportation and erection of the rocket. During the installation process, the arm mechanism opens at a larger angle, providing more space for the hoisting of the rocket;

[0055] 4. Use inductive proximity switches to provide signal feedback of the in-position status, so as to achieve precise control of the support and clamping of the rocket;

[0056] 5. The characteristics of the dead point of the connecting rod mechanism are used to achieve dead point self-locking and improve reliability;

[0057] 6. Compact structure and high integration.

Claims

1. A multi-degree-of-freedom large rocket support and clamping device, comprising a clamping mechanism (1), characterized in that: The clamping mechanism (1) is rotatably mounted on both sides of the transverse mechanism (3); a support mechanism (2) is mounted in the middle of the transverse mechanism (3); the support mechanism (2) and the clamping mechanisms (1) on both sides form a circular clamping hoop shape; the clamping mechanism (1) and the transverse mechanism (3) are connected in the form of a structural member hinge via a transverse bracket (32); an electric push rod (4) is provided to connect the clamping mechanism (1) and the transverse mechanism (3); the electric push rod (4) drives the clamping mechanism (1) to rotate relative to the transverse mechanism (3) by telescoping; the support mechanism (2) is fixed to the transverse mechanism (3) by bolts; the transverse mechanism (3) is mounted on a ball guide rail (31) and can move along the ball guide rail (31); the ball guide rail (31) is connected to the mounting surface of the erection frame by bolts.

2. The multi-degree-of-freedom large rocket supporting and holding device according to claim 1, characterized in that: The clamping mechanism (1) comprises an arm (13), one end of which is rotatably mounted with a clamping block (12), and the other end of which is rotatably mounted on a transverse movement mechanism (3). The arm (13) is in the shape of an arc block, and a connecting rod (14) is rotatably mounted on the arc back side of the arm (13). The connecting rod (14) is rotatably mounted with a main connecting rod (15), and the main connecting rod (15) is rotatably mounted on the transverse movement mechanism (3). The electric push rod (4) is connected to the connection position between the connecting rod (14) and the main connecting rod (15).

3. The multi-degree-of-freedom large rocket supporting and holding device according to claim 2, characterized in that: The holding block (12) is provided with a proximity switch (11).

4. The multi-degree-of-freedom large rocket supporting and holding device according to claim 1, characterized in that: The transverse movement mechanism (3) comprises a transverse movement bracket (32), which is mounted on a ball guide rail (31). The ball guide rail (31) is provided with a locking rod (33) in position, and the locking rod (33) in position locks the transverse movement bracket (32) through a nut.

5. The multi-degree-of-freedom large rocket supporting and holding device as claimed in claim 4, characterized in that: A transverse fixed nut (39) is fixed on the transverse bracket (32), a transverse screw (35) is installed on a fixed seat (37) through a bearing (38), the fixed seat (37) is fixed to the ball guide rail (31), a hand wheel (36) is fixed to the end of the transverse screw (35), and the transverse screw (35) and the transverse fixed nut (39) are thread-matched so that when the transverse screw (35) rotates, the transverse fixed nut (39) moves along the installation direction of the transverse screw (35).

6. The multi-degree-of-freedom large rocket supporting and holding device according to claim 4, characterized in that: A proximity switch (34) is installed at a position on the top of the transverse moving bracket (32) close to the clamping mechanism (1).

7. The multi-degree-of-freedom large rocket supporting and holding device according to claim 1, characterized in that: The support mechanism (2) comprises a support box (22), the support box (22) is mounted on a mounting frame (24), the top surface of the support box (22) is arc-shaped, a plurality of spiral elevators (25) are mounted on the bottom of the mounting frame (24), the spiral elevators (25) are fixed on the transverse movement mechanism (3) and driven to move up and down through a lifting connecting rod (28), and a lifting drive motor (27) is fixed on the transverse movement mechanism (3) to drive the lifting connecting rod (28).

8. The multi-degree-of-freedom large rocket supporting and holding device according to claim 7, characterized in that: A transverse driving motor (23) is fixed on the support box (22), and a transverse screw (214) is installed on the output shaft of the transverse driving motor (23). The transverse screw (214) is rotatably installed on the bearing support (212) through a bearing (213). The bearing support (212) is fixed to the support box (22), and a support nut (210) is sleeved on the transverse screw (214) to form a screw pair structure. The support nut (210) is fixed to the mounting frame (24), and a guide rail (211) is also fixed on the mounting frame (24). The support box (22) is mounted on the guide rail (211), and the guide rail (211) and the transverse screw (214) are in the same direction.

9. The multi-degree-of-freedom large rocket supporting and holding device as claimed in claim 8, characterized in that: A rubber plate (21) is fixed on the arc-shaped surface of the supporting box (22); an inductive proximity switch (215) is installed at the center of the rubber plate (21).

10. The multi-degree-of-freedom large rocket supporting and holding device according to claim 7, characterized in that: A guide post and guide sleeve (26) is fixed at the bottom of the mounting frame (24) for vertical guiding and limiting. A guide sleeve is provided on the transverse movement mechanism (3) for the guide post and guide sleeve (26) to pass through. A lower limit proximity switch (29) is installed on the guide sleeve.

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