Positioning and docking method of ball joint point of erection system

Abstract

The present invention provides a method for positioning and docking a ball joint point of an erecting system, comprising a rough positioning step: installing limit plates on both sides of a ball joint structure at one end of an erecting actuator, locking the ball joint structure through the limit plates, and roughly positioning the swing angle of the ball joint structure at the other end of the erecting actuator; a fine positioning step: installing a guide port bracket on a supporting structure, the guide port corresponding to a main body of the erecting actuator, rotating the erecting actuator, and finely positioning the swing angle of the ball joint structure at the other end through the guide port bracket; the present invention firstly uses a limit plate to roughly position the erecting actuator, preliminarily limits its rotational freedom around a horizontal hinge connection axis, and subsequently uses a guide port to further limit the rotational freedom of the erecting actuator around a horizontal hinge connection axis, which can greatly reduce the deviation caused by the large span between the ball joints at both ends during the three-hinged point connection process, and realizes the positioning and docking of the ball joint points under heavy load and large span.

Description

Technical Field

[0001] The present invention relates to the technical field of ground launch support systems, and in particular to a method for positioning and docking a ball joint of an erection system. Background Art

[0002] In the field of ground launch support systems, the erection cylinder with a double-ended ball-jointed structure is installed on the erection arm of the launch vehicle to drive the launch vehicle to erect. However, since the erection arms of various models of launch vehicles have different shapes and interface forms, it is difficult to position and install the erection cylinder, and it is difficult to complete the three-hinge connection with the erection hydraulic system (hydraulic system + erection cylinder) arranged at the position. In addition, the span between the two ball joints is large, and there is a certain deviation. At present, there is no effective method to complete the positioning and docking of the ball joints under heavy loads and large spans. Summary of the invention

[0003] In view of the defects in the prior art, the object of the present invention is to provide a method for positioning and docking a ball joint point of an erection system.

[0004] According to the method for positioning and docking a ball joint point of an erection system provided by the present invention, the erection system includes an erection actuator having a two-end ball joint structure, which specifically includes the following steps:

[0005] Rough positioning step: installing limit plates on both sides of the ball joint structure at one end of the erecting actuator, locking the ball joint structure at one end of the erecting actuator through the limit plates, and roughly positioning the deflection angle of the ball joint structure at the other end of the erecting actuator;

[0006] Precision positioning step: install the guide port bracket on the supporting structure, wherein the guide port corresponds to the erection actuator body, rotate the erection actuator, and precisely position the deflection angle of the ball joint structure at the other end of the erection actuator through the guide port bracket;

[0007] Installation steps: After the precise positioning is completed, perform the positioning and installation of the ball joint structure at the other end of the erection actuator.

[0008] Preferably, a V-shaped guide opening is provided on the guide opening bracket, and an opening size of the V-shaped guide opening is larger than a width of the erecting actuator body.

[0009] Preferably, the ball joint support of the ball joint structure at one end of the erection actuator is fixedly mounted on the mounting surface of the external hydraulic system;

[0010] The supporting structure comprises a supporting wall, the supporting wall is perpendicular to the installation surface of the external hydraulic system, and the guide port bracket is fixedly installed on the supporting wall.

[0011] Preferably, the limit plates are installed in pairs on both sides of a ball joint support of a ball joint structure at one end of the erecting actuator, and are used to limit the rotational freedom of the erecting actuator around a horizontal hinge connection axis.

[0012] Preferably, in the projection along the axial direction of the limit plate, the radius of the limit plate is larger than the distance between the axis of the ball joint structure at one end of the erection actuator and the erection actuator body;

[0013] In the rough positioning step, the limit plate is used to abut and limit the erection actuator body.

[0014] Preferably, in the rough positioning step, the limit plate limits the rotational deflection angle of the erection actuator around a direction horizontal to the hinge connection axis within a preset angle;

[0015] When the erecting actuator body rotates to the boundary of a preset angle, an overlapping portion exists between the erecting actuator and the guide opening in the projection along the depth direction of the guide opening.

[0016] Preferably, the ball joint structures at both ends of the erection actuator include ball joint bearing hinge structures or ball head hinge structures.

[0017] Preferably, in the precise positioning step, the erecting actuator rotates around a direction perpendicular to the hinge connection axis until the erecting actuator body enters the guide opening at the top of the guide opening bracket.

[0018] Preferably, an auxiliary driving device is provided on a side of the erecting actuator away from the guide port bracket, and two ends of the auxiliary driving device are respectively mounted on the erecting actuator and the external hydraulic system;

[0019] The auxiliary driving device is used to drive the erection actuator to rotate around a direction perpendicular to the hinge connection axis.

[0020] Preferably, the erection actuator comprises an oil cylinder, a pneumatic cylinder or an electric cylinder.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The present invention has a simple structure and is easy to operate. First, a limit plate is used to roughly position the erecting actuator to preliminarily limit its rotational freedom around the axis horizontal to the hinge connection. Subsequently, a guide port is used to further limit the rotational freedom of the erecting actuator around the axis horizontal to the hinge connection. This can greatly reduce the deviation caused by the large span between the ball joints at both ends during the three-hinged point connection process, thereby realizing the positioning and docking of the ball joints under heavy loads and large spans.

[0023] 2. The present invention adopts a technical means to accurately position the erection actuator through a V-shaped guide opening. Under the action of the guide opening, the position of the erection actuator can be directly fixed to the bottom position of the groove of the guide opening, and the deviation generated during the connection process can be eliminated without further repeated adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0025] Figure 1 It is a structural schematic diagram of the erection actuator in the present invention in a vertical docking state;

[0026] Figure 2 It is a structural schematic diagram of the erection actuator in the present invention in a lying state;

[0027] Figure 3 It is a schematic diagram of the structure of the limiting plate in the present invention;

[0028] Figure 4 It is a structural schematic diagram of the guide port bracket in the present invention. DETAILED DESCRIPTION

[0029] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0030] The present invention discloses a method for positioning and docking a ball joint point of an erection system. For an erection actuator (oil cylinder / electric cylinder) with a two-end ball joint structure in an erection system, the swing angle of the other ball joint is roughly positioned by locking the limit plates on both sides of the ball joint. When the other ball joint moves to the vicinity of the installation position, the swing angle of the other ball joint is precisely positioned through a V-shaped guide port to complete the positioning and installation of the other ball joint. The method solves the problems of repeated adjustment, low efficiency, and poor precision when positioning and docking ball joint points under heavy load and large span.

[0031] According to the method for positioning and docking a ball joint point of an erection system provided by the present invention, the erection system includes an erection actuator having a two-end ball joint structure, which specifically includes the following steps:

[0032] like Figure 1 , 2As shown, the rough positioning step is: installing limit plates on both sides of the ball joint structure at one end of the erecting actuator, locking the ball joint structure at one end of the erecting actuator through the limit plates, and roughly positioning the swing angle of the ball joint structure at the other end of the erecting actuator; the fine positioning step is: installing the guide port bracket on the supporting structure, wherein the guide port corresponds to the erecting actuator body, rotating the erecting actuator, and finely positioning the swing angle of the ball joint structure at the other end of the erecting actuator through the guide port bracket;

[0033] like Figure 1 The figure shows a structural schematic diagram of the erecting actuator body when it is positioned by the guide port bracket in the fine positioning step. The present invention firstly roughly positions the rotating end of the erecting actuator by means of a limit plate, so that the swing angle of the entire erecting actuator is initially reduced to a certain range, and then a guide port bracket is arranged near the ball joint structure at the other end of the erecting actuator, and the swing angle is further eliminated by the guide port bracket, wherein the installation position of the guide port bracket corresponds to the position of the equipment connected to the ball joint structure at the other end of the erecting actuator. After the fine positioning is completed, the ball joint structure at the other end of the erecting actuator can be positioned and installed without further adjusting the position of the erecting actuator.

[0034] Preferably, a V-shaped guide opening is provided on the guide opening bracket, and the opening size of the V-shaped guide opening is larger than the width of the erection actuator body. By providing the V-shaped guide opening, when the erection actuator moves toward the inside of the guide opening, the erection actuator can be completely fixed at the bottom of the V-shaped guide opening through the guidance of the V-shaped structure, and the swing angle of the erection actuator rotating around the horizontal hinge connection axis is completely eliminated, thereby directly adjusting the position of the erection actuator to the optimal position suitable for the installation of the ball joint structure, further ensuring the positioning performance.

[0035] like Figure 1 As shown, the ball joint support of the ball joint structure at one end of the erecting actuator is fixedly mounted on the mounting surface of the external hydraulic system; the supporting structure includes a supporting wall, the supporting wall is perpendicular to the mounting surface of the external hydraulic system, and the guide port bracket is fixedly mounted on the supporting wall. An auxiliary driving device is provided on the side of the erecting actuator away from the guide port bracket, and the two ends of the auxiliary driving device are respectively mounted on the erecting actuator and the external hydraulic system; the auxiliary driving device is used to drive the erecting actuator to rotate around a direction perpendicular to the hinge connection axis. During the docking process, it is only necessary to drive the erecting actuator to rotate around a direction perpendicular to the hinge connection axis through the auxiliary driving device, and there is no need to actively control the driving angle of the auxiliary driving device. The deflection angle of the erecting actuator rotating around the horizontal hinge connection axis can be directly eliminated through the limit plate and the guide port bracket. Therefore, there is no need to finely control the driving device of the erecting actuator to achieve its precise positioning, which greatly saves the equipment cost of the docking process.

[0036] The limit plates are installed in pairs on both sides of the ball joint support of the ball joint structure at one end of the erecting actuator, and are used to limit the rotational freedom of the erecting actuator around the axis horizontal to the hinge connection axis. In the axial projection of the limit plate, the radius of the limit plate is larger than the distance between the axis of the ball joint structure at one end of the erecting actuator and the erecting actuator body; in the rough positioning step, the limit plate is used to abut and limit the erecting actuator body. Specifically, as Figure 3 The figure is a schematic diagram of the structure of the limit plate, wherein the limit plate is installed on both sides of the ball joint structure, and a mounting portion is provided in the middle of the limit plate, and the mounting portion is used for being fixedly installed on the ball joint structure. Preferably, a plurality of threaded holes are provided on the mounting portion, and the limit plate is fixedly installed on both sides of the ball joint structure through the threaded holes, and the outer edge of the mounting portion is the limit portion, which is used to abut against the erection actuator body to achieve limiting.

[0037] In the rough positioning step, the limit plate limits the rotational deflection angle of the erecting actuator around the direction horizontal to the hinge connection axis within a preset angle; when the erecting actuator body rotates to the boundary of the preset angle, there is an overlapping portion between the erecting actuator and the guide port in the projection along the depth direction of the guide port. In the fine positioning step, the erecting actuator rotates around the direction perpendicular to the hinge connection axis until the erecting actuator body enters the guide port at the top of the guide port bracket. In this docking step, the limit plate is used in conjunction with the guide port bracket, and the size between the two needs to meet the requirement that when the limit plate is installed on both sides of the ball joint structure for limiting, the erecting actuator body needs to be able to fall into the guide port at the top of the guide port bracket.

[0038] Example 1

[0039] This embodiment discloses a docking method for an erection actuator with a two-end ball joint structure. For an erection actuator (oil cylinder / electric cylinder) with a two-end ball joint structure in an erection system, the deflection angle of the other end ball joint is roughly positioned by locking the limit plates on both sides of the ball joint. When the other end ball joint moves to the vicinity of the installation position, the deflection angle of the other end ball joint is precisely positioned through the V-shaped guide port to complete the positioning and installation of the other end ball joint and the erection arm of the launch vehicle. Specifically, the erection system of the launch vehicle is composed of an erection arm and an erection actuator, and the erection actuator is driven by an auxiliary drive device and positioned and installed with the erection arm. Among them, the ball joint has three degrees of freedom of rotation, including ball joint bearing articulation and ball head articulation. Among them, the limit plate needs to limit the rotational freedom of the ball joint within a small angle range, and the small angle needs to be smaller than the opening angle of the V-shaped guide port. The limit plate does not constrain one degree of rotation of the ball joint, which is the same as the moving direction of the earring of the other end ball joint. The V-shaped guide opening can realize precise positioning constraint of the three rotational degrees of freedom of the ball joint.

[0040] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for positioning and docking a ball joint point of an erection system, characterized in that: The erection system includes an erection actuator having a two-end ball joint structure, and specifically includes the following steps: Rough positioning step: installing limit plates on both sides of the ball joint structure at one end of the erecting actuator, locking the ball joint structure at one end of the erecting actuator through the limit plates, and roughly positioning the deflection angle of the ball joint structure at the other end of the erecting actuator; Precision positioning step: install the guide port bracket on the supporting structure, wherein the guide port corresponds to the erection actuator body, rotate the erection actuator, and precisely position the deflection angle of the ball joint structure at the other end of the erection actuator through the guide port bracket; Installation steps: After the precise positioning is completed, perform the positioning and installation of the ball joint structure at the other end of the erection actuator; The limit plates are installed in pairs on both sides of the ball joint support of the ball joint structure at one end of the erecting actuator, and are used to limit the rotational freedom of the erecting actuator around the horizontal hinge connection axis; In the projection along the axial direction of the limit plate, the radius of the limit plate is larger than the distance between the axis of the ball joint structure at one end of the erection actuator and the erection actuator body; In the rough positioning step, the limit plate is used to abut and limit the erection actuator body.

2. The method for positioning and docking the ball joint point of the erection system according to claim 1, characterized in that: A V-shaped guide opening is arranged on the guide opening bracket, and the opening size of the V-shaped guide opening is larger than the width of the erecting actuator body.

3. The method for positioning and docking a ball joint point of an erection system according to claim 1, characterized in that: The ball joint support of the ball joint structure at one end of the erection actuator is fixedly mounted on the mounting surface of the external hydraulic system; The supporting structure comprises a supporting wall, the supporting wall is perpendicular to the installation surface of the external hydraulic system, and the guide port bracket is fixedly installed on the supporting wall.

4. The method for positioning and docking a ball joint point of an erection system according to claim 1, characterized in that: In the rough positioning step, the limit plate limits the rotational deflection angle of the erection actuator around the direction horizontal to the hinge connection axis to a preset angle; When the erecting actuator body rotates to the boundary of a preset angle, an overlapping portion exists between the erecting actuator and the guide opening in the projection along the depth direction of the guide opening.

5. The method for positioning and docking a ball joint point of an erection system according to claim 1, characterized in that: The ball joint structures at both ends of the erection actuator include a ball joint bearing hinge structure or a ball head hinge structure.

6. The method for positioning and docking a ball joint point of an erection system according to claim 1, characterized in that: In the precise positioning step, the erecting actuator rotates around a direction perpendicular to the hinge connection axis until the erecting actuator body enters the guide opening at the top of the guide opening bracket.

7. The method for positioning and docking a ball joint point of an erection system according to claim 6, characterized in that: An auxiliary driving device is provided on one side of the erecting actuator away from the guide port bracket, and two ends of the auxiliary driving device are respectively installed on the erecting actuator and the external hydraulic system; The auxiliary driving device is used to drive the erection actuator to rotate around a direction perpendicular to the hinge connection axis.

8. The method for positioning and docking a ball joint point of an erection system according to claim 1, characterized in that: The erection actuator comprises an oil cylinder, a gas cylinder or an electric cylinder.

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