Engine posture automatic adjusting device

Abstract

The present application relates to a posture adjusting device, in particular to an engine posture automatic adjusting device, which solves the problem that the existing rocket engine uses different attack angle supports to adjust different attack angle sizes when conducting wind tunnel test, resulting in high cost and long test cycle, the Y-direction lifting platform of the present application realizes vertical direction movement through Y-direction hydraulic cylinders, the X-direction moving platform is driven by X-direction hydraulic cylinders to realize horizontal direction movement, the angle changing platform is driven by angle adjusting hydraulic cylinders arranged at two ends of the X-direction moving platform to rotate around the hinge shaft of the angle changing platform and the X-direction moving platform, realizing attack angle change, the extension and retraction amounts of the Y-direction hydraulic cylinders, the X-direction hydraulic cylinders and the angle adjusting hydraulic cylinders are controlled by an upper computer, the extension and retraction amounts are monitored by built-in displacement sensors, and the pitch angle is monitored by an angle sensor, realizing real-time adjustment of different attack angle sizes and engine front and back and high and low positions.

Description

Technical Field

[0001] The invention relates to a posture adjustment device, in particular to an automatic engine posture adjustment device. Background Art

[0002] During the design process of some rocket engines, they need to be subjected to wind tunnel tests. During the test, the relative position of the rocket engine and the wind tunnel nozzle needs to be adjusted, such as pitch, height, and front and back positions. The pitch adjustment in the wind tunnel test is the adjustment of the angle of attack. The angle of attack is the angle between the projection of the rocket engine velocity vector on the longitudinal symmetry plane and the longitudinal axis of the rocket engine. In order to make the rocket engine change different angles of attack, the traditional method is to process a large number of angle of attack brackets with different angles of attack. However, the angle of attack brackets cannot be used interchangeably between different models of rocket engines, resulting in high cost investment. After completing an angle of attack test, the angle of attack bracket needs to be manually replaced for the next test, resulting in a long test cycle. Therefore, it is necessary to develop an automatic angle of attack adjustment device so that the pitch adjustment, height adjustment, and front and back position adjustment can be automatically completed during the wind tunnel test of the rocket engine. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic engine attitude adjustment device to solve the technical problem that different angle of attack brackets are used to adjust different angles of attack during wind tunnel tests of existing rocket engines, resulting in high costs and long test cycles.

[0004] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0005] An automatic engine attitude adjustment device, which is special in that:

[0006] It includes host computer, bracket, Y-axis lifting platform, Y-axis hydraulic cylinder, X-axis moving platform, X-axis hydraulic cylinder, angle change platform, angle adjustment hydraulic cylinder and hydraulic station;

[0007] There are four Y-direction hydraulic cylinders distributed in a rectangular shape on the bracket. The Y-direction lifting platform is horizontally arranged above the bracket. The fixed ends of the four Y-direction hydraulic cylinders are connected to the bracket, and the movable ends are connected to the Y-direction lifting platform to drive the Y-direction lifting platform to move in the vertical direction.

[0008] The X-direction moving platform is arranged on the Y-direction lifting platform and slides with the Y-direction lifting platform along the length direction of the Y-direction lifting platform. The X-direction hydraulic cylinder is arranged at one end of the Y-direction lifting platform. The fixed end of the X-direction hydraulic cylinder is connected to the Y-direction lifting platform, and the movable end is connected to the X-direction moving platform, so as to drive the X-direction moving platform to move in the horizontal direction.

[0009] The angle changing platform is located above the X-direction moving platform and the middle parts of the two are hinged, the angle adjusting hydraulic cylinder is at least two and is separately arranged at the two ends of the X-direction moving platform, the fixed end of the angle adjusting hydraulic cylinder is hinged with the X-direction moving platform, the movable end is hinged with the angle changing platform, and is used for driving the angle changing platform to rotate around the hinge shaft of the angle changing platform and the X-direction moving platform; the hinge shaft is perpendicular to the movement direction of the X-direction moving platform; the angle changing platform is provided with an angle sensor, and the output end of the angle sensor is electrically connected with the upper computer.

[0010] The Y-direction hydraulic cylinder, the X-direction hydraulic cylinder and the angle adjusting hydraulic cylinder are connected with the hydraulic station through the hydraulic pipeline, the control end of the hydraulic station is electrically connected with the upper computer, and the Y-direction hydraulic cylinder, the X-direction hydraulic cylinder and the angle adjusting hydraulic cylinder are used for controlling the extension and retraction of the movable end of the Y-direction hydraulic cylinder, the X-direction hydraulic cylinder and the angle adjusting hydraulic cylinder, and the Y-direction hydraulic cylinder, the X-direction hydraulic cylinder and the angle adjusting hydraulic cylinder are all internally provided with displacement sensors for detecting the extension and retraction amount of the movable end, and the output ends of all the displacement sensors are electrically connected with the upper computer.

[0011] Further, the Y-direction hydraulic cylinder, the X-direction hydraulic cylinder and the angle adjusting hydraulic cylinder are all servo hydraulic cylinders.

[0012] The Y-direction hydraulic cylinder and the X-direction hydraulic cylinder are both provided with a mechanical locker.

[0013] The mechanical locker is also arranged between the X-direction moving platform and the angle changing platform, the mechanical locker arranged between the X-direction moving platform and the angle changing platform is at least two and is separately arranged at the two ends of the X-direction moving platform, one end of the mechanical locker is hinged with the X-direction moving platform, and the other end is hinged with the angle changing platform.

[0014] The control end of the mechanical locker is electrically connected with the upper computer, and is used for locking the movable end after the movable end of the Y-direction hydraulic cylinder, the X-direction hydraulic cylinder and the angle adjusting hydraulic cylinder moves to the position.

[0015] Further, the X-direction moving platform comprises a moving platform bottom plate and first hinge plates arranged on the top of the moving platform bottom plate and on both sides along the movement direction, the angle changing platform is located between the two first hinge plates and comprises a changing platform top plate and second hinge plates arranged on both sides of the bottom of the changing platform top plate, the changing platform top plate is located above the moving platform bottom plate, and the middle parts of the first hinge plate and the second hinge plate on the same side are hinged through a rotating pin shaft.

[0016] Further, the inner side wall of the first hinge plate is provided with a plurality of universal balls, the universal balls are used for abutting against the second hinge plate on the same side to limit the second hinge plate.

[0017] Further, a support frame arranged on the bracket is further included.

[0018] There are two support frames, which are respectively located on both sides of the Y-direction lifting platform along the length direction. The Y-direction lifting platform is slidably matched with the inner side surface of the support frame.

[0019] Furthermore, a level sensor is provided on the top of the Y-axis lifting platform, and the level sensor is electrically connected to the host computer.

[0020] Furthermore, the four corners of the Y-axis lifting platform are respectively connected to four L-shaped connecting frames, including a vertical frame and a horizontal frame connected to one side of the bottom end of the vertical frame. The side wall of the Y-axis lifting platform is connected to the inner wall of the vertical frame, and the horizontal frame is abutted against the bottom of the Y-axis lifting platform. The movable ends of the four Y-axis hydraulic cylinders are respectively hinged to the top ends of the four vertical frames.

[0021] Further, it also includes a mounting platform;

[0022] The bracket is arranged on the mounting platform, and a plurality of transverse T-slots are opened on the mounting platform along its length direction, and a plurality of longitudinal T-slots are opened along its width direction. A plurality of T-nuts are respectively arranged in each transverse T-slot and longitudinal T-slot, and the bracket is fixed to the mounting platform by bolts and T-nuts.

[0023] The mounting platform is made of cast iron.

[0024] Furthermore, two connecting frames are provided at one end of the X-direction movable platform, and there are two X-direction hydraulic cylinders, and the movable ends of the two cylinders are respectively hinged to the two connecting frames.

[0025] Furthermore, the Y-axis lifting platform is provided with two slider mounting frames on both sides along the length direction, each slider mounting frame is provided with a slider, and the four slider mounting frames are distributed in a rectangular shape. The inner side surface of each support frame is provided with two linear guide rails along the vertical direction. The two linear guide rails are parallel to each other, and the two sliders located on the same side slide with the two linear guide rails respectively.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] (1) The present invention provides an automatic adjustment device for an engine attitude, comprising a Y-axis lifting platform, an X-axis moving platform and an angle changing platform. The Y-axis lifting platform realizes vertical movement through a Y-axis hydraulic cylinder, while the X-axis moving platform is arranged on the Y-axis lifting platform and slides with the Y-axis lifting platform along the length direction of the Y-axis lifting platform. The X-axis moving platform is driven by an X-axis hydraulic cylinder arranged at one end of the Y-axis lifting platform to realize horizontal movement. The angle changing platform is located above the X-axis moving platform and the two are hinged in the middle. The angle adjusting hydraulic cylinders arranged at both ends of the X-axis moving platform enable the angle changing platform to rotate around the hinge axis between it and the X-axis moving platform to realize the change of the angle of attack. The upper computer controls the extension and contraction of the Y-axis hydraulic cylinder, the X-axis hydraulic cylinder and the angle adjusting hydraulic cylinder, and monitors the extension and contraction size through the built-in displacement sensors of the three and the pitch angle size of the angle changing platform through the angle sensor. The pitch, height and front and rear position can be accurately adjusted in real time without processing angle brackets of different attack angles, which is low in cost and short in test cycle.

[0028] (2) In the engine attitude automatic adjustment device provided by the present invention, the Y-direction hydraulic cylinder, the X-direction hydraulic cylinder and the angle adjustment hydraulic cylinder are all servo hydraulic cylinders, which have high movement accuracy and are suitable for precise position adjustment of rocket engine wind tunnel tests. In order to ensure that the movable ends of the Y-direction hydraulic cylinder, the X-direction hydraulic cylinder and the angle adjustment hydraulic cylinder maintain their positions after moving into position and the stability of the entire device under impact loads, mechanical locks are installed on the Y-direction hydraulic cylinder and the X-direction hydraulic cylinder. During the movement of the movable ends, the mechanical locks remain in an open state. When the movable ends move into position, the mechanical locks are in a closed and locked state, ensuring that the movable ends will not retract when subjected to impact loads, thereby enhancing the rigidity of the entire device. Because directly installing a mechanical locker on the hydraulic cylinder will increase the axial length of the hydraulic cylinder, and the space between the angle change platform and the X-axis moving platform is very small, in order to save installation space, the mechanical locker of the angle adjustment hydraulic cylinder is not integrated, but an external solution is adopted. There are at least two mechanical lockers located between the X-axis moving platform and the angle change platform, and they are respectively arranged at both ends of the X-axis moving platform. One end of the mechanical locker is hinged to the X-axis moving platform, and the other end is hinged to the angle change platform.

[0029] (3) In an engine attitude automatic adjustment device provided by the present invention, a plurality of universal balls are arranged on the inner side wall of the first hinge plate, and all the universal balls are in contact with the second hinge plate, so that the two sides of the angle change platform are limited, and the universal balls can rotate. The contact between the two is rolling friction, which will not affect the rotation of the angle change platform around the hinge axis with the X-axis moving platform. During the wind tunnel test, the angle change platform can be prevented from vibrating along the axis of the rotating pin shaft, thereby ensuring the stability of the rocket engine wind tunnel test.

[0030] (4) In the engine attitude automatic adjustment device provided by the present invention, support frames are provided on both sides of the Y-direction lifting platform. The Y-direction lifting platform and the inner side surface of the support frame slide together to ensure the stability of the four Y-direction hydraulic cylinders during extension and retraction.

[0031] (5) The present invention provides an automatic adjustment device for an engine attitude, in which a level sensor is provided on the top of the Y-axis lifting platform. The level sensor is electrically connected to the upper computer. The level sensor and the built-in displacement sensor of the Y-axis hydraulic cylinder form a double insurance, further ensuring the levelness of the Y-axis lifting platform during lifting.

[0032] (6) The present invention provides an automatic engine attitude adjustment device provided with a mounting platform made of cast iron, which has a certain shock absorption capacity to ensure the stability of the device, and a plurality of transverse T-slots are provided on the mounting platform along its length direction, and a plurality of longitudinal T-slots are provided along its width direction, and a plurality of T-nuts are provided in each transverse T-slot and longitudinal T-slot respectively, and the bracket is fixed to the mounting platform by bolts and T-nuts, so that the position of the bracket can be adjusted on the mounting platform to meet different installation requirements.

[0033] (7) The present invention provides an automatic adjustment device for an engine attitude, which uses an L-shaped connecting frame to connect the Y-axis hydraulic cylinder and the Y-axis lifting platform. Since the installation space of the entire device is limited and the length of the Y-axis hydraulic cylinder is also very long when it is not extended, if they are directly connected, the design height of the remaining components will be compressed. The use of an L-shaped connecting frame can save height space and provide design margin for the design of the remaining components. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the three-dimensional structure of an embodiment of an automatic engine attitude adjustment device of the present invention (the host computer and hydraulic station are not shown);

[0035] Figure 2 A schematic diagram of the side structure of an embodiment of the present invention (the host computer and hydraulic station are not shown)

[0036] Figure 3 A schematic diagram of the spatial arrangement of an embodiment of the present invention;

[0037] Figure 4 This is a hydraulic principle diagram of the Y-direction hydraulic cylinder in an embodiment of the present invention;

[0038] Figure 5 Schematic diagram of the position of the universal ball in an embodiment of the present invention;

[0039] Figure 6 Schematic diagram of the connection between the X-axis hydraulic cylinder and the X-axis moving platform in an embodiment of the present invention;

[0040] Figure 7Schematic diagram of the transverse T-slot structure of the mounting platform in an embodiment of the present invention;

[0041] Figure 8 Schematic diagram of the three-dimensional structure of the Y-axis lifting platform in an embodiment of the present invention;

[0042] Figure 9 Schematic diagram of the three-dimensional structure of the X-axis moving platform in an embodiment of the present invention;

[0043] Figure 10 Schematic diagram of the three-dimensional structure of the angle changing platform in an embodiment of the present invention.

[0044] The following are the descriptions of the reference numerals:

[0045] 1-bracket, 2-Y-axis lifting platform, 21-slider mounting frame; 3-Y-axis hydraulic cylinder, 31-servo valve, 32-electromagnetic reversing valve, 33-hydraulic lock, 34-pressure sensor, 35-mechanical lock, 36-oil cylinder, 37-displacement sensor; 4-X-axis moving platform, 41-moving platform bottom plate, 42-first hinged plate; 5-X-axis hydraulic cylinder, 6-angle changing platform, 61-changing platform top plate, 62-second hinged plate; 7-support frame, 8-universal ball, 9-L-type connecting frame, 10-mounting platform, 11-angle adjustment hydraulic cylinder. DETAILED DESCRIPTION

[0046] The present invention will be further described below with reference to the accompanying drawings and exemplary embodiments.

[0047] Reference Figures 1-10 The engine attitude automatic adjustment device of the present invention includes a host computer, a bracket 1, a Y-axis lifting platform 2, a Y-axis hydraulic cylinder 3, an X-axis moving platform 4, an X-axis hydraulic cylinder 5, an angle changing platform 6, an angle adjustment hydraulic cylinder 11, a support frame 7, a mounting platform 10 and a hydraulic station.

[0048] The bracket 1 is set on the mounting platform 10. The mounting platform 10 is made of cast iron, which can absorb unnecessary vibration and improve the stability of the entire device during the test. In addition, a plurality of transverse T-slots are opened on the mounting platform 10 along its length direction and a plurality of longitudinal T-slots are opened along its width direction. A plurality of T-nuts are respectively provided in each transverse T-slot and longitudinal T-slot. The bracket 1 is fixed to the mounting platform 10 by bolts and T-nuts. In this way, the position of the bracket 1 can be adjusted on the mounting platform 10 to adapt to different installation requirements.

[0049] Four Y-direction hydraulic cylinders 3 are arranged in a rectangular pattern on the bracket 1. The Y-direction lifting platform 2 is horizontally arranged above the bracket 1. The fixed ends of the four Y-direction hydraulic cylinders 3 are connected to the bracket 1, and the movable ends are connected to the Y-direction lifting platform 2. They are used to drive the Y-direction lifting platform 2 to move in the vertical direction to achieve the height adjustment of the rocket engine. The vertical movement speed of the Y-direction lifting platform 2 is 0 to 100 mm / s. In order to facilitate the connection between the Y-direction hydraulic cylinder 3 and the Y-direction lifting platform 2 and to reserve sufficient design margin for the other components, four L-shaped connecting frames 9 are connected to the four corners of the Y-direction lifting platform 2. Its structure is as follows: Figure 1 As shown, it includes a vertical frame and a horizontal frame connected to one side of the bottom end of the vertical frame. The side wall of the Y-axis lifting platform 2 is connected to the inner wall of the vertical frame. The horizontal frame abuts against the bottom of the Y-axis lifting platform 2 to lift the Y-axis lifting platform 2. The movable ends of the four Y-axis hydraulic cylinders 3 are respectively hinged to the top ends of the four vertical frames.

[0050] In order to improve the lifting stability of the entire device, a support frame 7 is also provided. There are two support frames 7, which are respectively provided on both sides of the Y-direction lifting platform 2 along the length direction. The Y-direction lifting platform 2 slides with the inner side of the support frame 7. In this way, when the Y-direction hydraulic cylinder 3 is extended and retracted, the support frame 7 provides a motion guide for it. In order to achieve the sliding cooperation between the Y-direction lifting platform 2 and the inner side of the support frame 7, as shown in FIG. Figure 8 As shown, two slider mounting frames 21 are respectively provided on both sides of the Y-axis lifting platform 2, each slider mounting frame 21 is provided with a slider, and the four slider mounting frames 21 are distributed in a rectangular shape. Two linear guide rails are provided on the inner side surface of each support frame 7 along the vertical direction, and the two linear guide rails are parallel to each other. The two sliders located on the same side slide with the two linear guide rails respectively.

[0051] An X-direction moving platform 4 is provided on the Y-direction lifting platform 2. The X-direction moving platform 4 is used to realize the horizontal position adjustment of the front and rear of the rocket engine, so the X-direction moving platform 4 and the Y-direction lifting platform 2 slide together along the length direction of the Y-direction lifting platform 2. Two X-direction hydraulic cylinders 5 are arranged side by side at one end of the Y-direction lifting platform 2. The fixed ends of the two X-direction hydraulic cylinders 5 are connected to the Y-direction lifting platform 2. Two connecting frames are provided at one end of the X-direction moving platform 4. The movable ends of the two X-direction hydraulic cylinders 5 are respectively hinged to the two connecting frames. The X-direction hydraulic cylinders 5 can drive the X-direction moving platform 4 to move in the horizontal direction. The horizontal movement speed is 0 to 100 mm / s, which can realize the horizontal position adjustment of the front and rear of the engine.

[0052] The angle-changing platform 6 is used to adjust the angle of attack of the engine, that is, the pitch position. It is located above the X-moving platform 4 and the middle part of the two is hinged. At least two angle-adjusting hydraulic cylinders 11 are provided, and are respectively arranged at both ends of the X-moving platform 4. The fixed end of the angle-adjusting hydraulic cylinder 11 is hinged to the X-moving platform 4, and the movable end is hinged to the angle-changing platform 6, which is used to drive the angle-changing platform 6 to rotate around the hinge axis between it and the X-moving platform 4. In order to know the real-time pitch angle of the angle-changing platform 6, an angle sensor is provided on the angle-changing platform 6, and the angle sensor is electrically connected to the host computer. According to the angle change requirement, the angle-adjusting hydraulic cylinders 11 at both ends of the X-moving platform 4 adopt a master-slave drive combination, and are controlled by the host computer to adjust the angle of attack. In this embodiment, the adjustment range of the angle of attack is ±10°, the adjustment speed is 0-2° / s, and the angle adjustment accuracy is ±0.1°.

[0053] like Figure 9 As shown, the X-direction moving platform 4 includes a moving platform base plate 41 and first hinge plates 42 arranged on both sides of the top of the moving platform base plate 41 along its moving direction; Figure 10 As shown, the angle changing platform 6 is located between the two first hinge plates 42, and includes a changing platform top plate 61 and second hinge plates 62 arranged on both sides of the bottom of the changing platform top plate 61; the changing platform top plate 61 is located above the moving platform bottom plate 41, and the middle parts of the first hinge plate 41 and the second hinge plate 62 located on the same side are hinged by a rotating pin shaft, and the hinge shaft is a rotating pin shaft.

[0054] In order to prevent the angle changing platform 6 from vibrating along the axis of the rotating pin during the wind tunnel test, a plurality of universal balls 8 are provided on the inner side wall of the first hinge plate 42. The universal balls 8 are used to abut against the second hinge plate 62 on the same side to limit the second hinge plate 62. In this way, the two sides of the angle changing platform 6 are limited, and the universal balls 8 can rotate. The contact between the two is rolling friction, which will not affect the rotation of the angle changing platform 6 around its hinge axis with the X-direction movable platform 4.

[0055] In this embodiment, because the position adjustment needs to be very precise, the Y-direction hydraulic cylinder 3, the X-direction hydraulic cylinder 5, and the angle adjustment hydraulic cylinder 11 are all servo hydraulic cylinders with high movement accuracy. All three are connected to the hydraulic station through hydraulic pipelines, and the host computer is electrically connected to the control end of the hydraulic station to control the extension and retraction of the movable ends of the Y-direction hydraulic cylinder 3, the X-direction hydraulic cylinder 5, and the angle adjustment hydraulic cylinder 11. In order to know the extension and retraction amount of each hydraulic cylinder, the Y-direction hydraulic cylinder 3, the X-direction hydraulic cylinder 5, and the angle adjustment hydraulic cylinder 11 are all equipped with displacement sensors 37. The hydraulic principles of the three are the same. Here, the Y-direction hydraulic cylinder 3 is taken as an example. The hydraulic principle diagram is as follows: Figure 4As shown, it includes a servo valve 31, an electromagnetic reversing valve 32, a hydraulic lock 33, a pressure sensor 34, a mechanical lock 35, an oil cylinder 36 and a displacement sensor 37, and the output ends of the pressure sensor 34 and the displacement sensor 37 of the Y-direction hydraulic cylinder 3, the X-direction hydraulic cylinder 5 and the angle adjustment hydraulic cylinder 11 are all electrically connected to the upper computer, and the displacement sensor 11 adopts a displacement sensor 11 with feedback as an SSI signal, which is more convenient for debugging than the traditional sensor with feedback as an analog signal.

[0056] To further ensure the horizontality of the Y-axis lifting platform 2 during lifting, in addition to the displacement sensor 37 built into the Y-axis hydraulic cylinder 3, which can be used to monitor the extension and contraction errors of the four Y-axis hydraulic cylinders 3, a level sensor is also installed on the Y-axis lifting platform. The level sensor is electrically connected to the host computer, and it and the displacement sensor 37 built into the Y-axis hydraulic cylinder 3 form a double insurance. During use, if the displacement deviation of the active ends of the four Y-axis hydraulic cylinders 3 monitored by the displacement sensor 37 exceeds 2mm or the level sensor indicates an out-of-tolerance, the host computer will control the hydraulic station and immediately stop the four Y-axis hydraulic cylinders 3 to prevent continued movement and damage to the Y-axis lifting platform 2. The X-axis hydraulic cylinder 5 and the angle adjustment hydraulic cylinder 11 both monitor the displacement deviation of the active ends through the built-in displacement sensor 37 and are synchronously controlled by the host computer to achieve synchronous movement.

[0057] Mechanical lockers 35 are installed on both the Y-direction hydraulic cylinder 3 and the X-direction hydraulic cylinder 5. The model of the mechanical locker 35 of the Y-direction hydraulic cylinder 3 is Ratio-Clamp / 56, and the model of the mechanical locker 35 of the X-direction hydraulic cylinder 5 and the angle adjustment hydraulic cylinder 11 is Ratio-Clamp / 70. The manufacturers of both are HANCHEN&SiTema.

[0058] Because directly adding a mechanical locker 35 to the hydraulic cylinder will increase the axial length of the hydraulic cylinder, and the space between the angle changing platform 6 and the X-axis moving platform 4 is very small, in order to save installation space, the mechanical locker 35 of the angle adjustment hydraulic cylinder 11 is not integrated, but an external solution is adopted. Its model is Ratio-Clamp / 70, and the manufacturer is HANCHEN&SiTema. Therefore, a mechanical locker 35 is also provided between the X-axis moving platform 4 and the angle changing platform 6. There are at least two mechanical lockers 35 located between the X-axis moving platform 4 and the angle changing platform 6, and they are respectively provided at both ends of the X-axis moving platform 4. One end of the mechanical locker 35 is hinged to the X-axis moving platform 4, and the other end is hinged to the angle changing platform 6. Moreover, the control ends of all mechanical locks 35 are electrically connected to the upper machine. During the movement of the movable ends of the Y-axis hydraulic cylinder 3, the X-axis hydraulic cylinder 5 and the angle adjustment hydraulic cylinder 11, the mechanical locks 35 remain in the open state. When the movement is in place, the mechanical locks 35 are in the closed and locked state, locking the movable ends to ensure that the movable ends will not retract when subjected to impact loads, thereby enhancing the rigidity of the entire device.

[0059] During use, the host computer first controls the hydraulic station, causing the four Y-axis hydraulic cylinders 3 to start moving synchronously, thereby driving the Y-axis lifting platform 2 to move vertically into position. Subsequently, the mechanical locks 35 on the Y-axis hydraulic cylinders 3 lock their movable ends. The host computer then controls the hydraulic station, causing the two X-axis hydraulic cylinders 5 to move synchronously, thereby driving the X-axis movable platform 4 to move horizontally into position. Subsequently, the mechanical locks 35 on the X-axis hydraulic cylinders 5 lock their movable ends. Based on the set angle of attack, the host computer controls the angle adjustment hydraulic cylinders 11 located at both ends of the X-axis movable platform 4 through the hydraulic station. The two sets of angle adjustment hydraulic cylinders 11 adopt a master-slave drive coordination and are controlled by the host computer in a linked manner to achieve adjustment of the angle of attack. When the angle sensor detects that the angle change platform 6 has reached the set angle, the mechanical locks 35 responsible for locking the movable ends of the angle adjustment hydraulic cylinders 11 lock their movable ends, completing the attitude adjustment of the rocket engine.

[0060] The embodiments described above are merely descriptions of specific implementation methods of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. An automatic engine attitude adjustment device, characterized in that: It comprises a host computer, a bracket (1), a Y-direction lifting platform (2), a Y-direction hydraulic cylinder (3), an X-direction moving platform (4), an X-direction hydraulic cylinder (5), an angle changing platform (6), an angle adjusting hydraulic cylinder (11) and a hydraulic station; There are four Y-direction hydraulic cylinders (3) distributed in a rectangular shape on the bracket (1); the Y-direction lifting platform (2) is horizontally arranged above the bracket (1); and the fixed ends of the four Y-direction hydraulic cylinders (3) are all connected to the bracket (1), and the movable ends are all connected to the Y-direction lifting platform (2), so as to drive the Y-direction lifting platform (2) to move in the vertical direction; The X-direction moving platform (4) is arranged on the Y-direction lifting platform (2) and is slidably matched with the Y-direction lifting platform (2) along the length direction of the Y-direction lifting platform (2); the X-direction hydraulic cylinder (5) is arranged at one end of the Y-direction lifting platform (2); the fixed end of the X-direction hydraulic cylinder (5) is connected to the Y-direction lifting platform (2), and the movable end is connected to the X-direction moving platform (4), and is used to drive the X-direction moving platform (4) to move in the horizontal direction; The angle changing platform (6) is located above the X-direction moving platform (4) and the middle of the two are hinged. There are at least two angle adjusting hydraulic cylinders (11) and they are respectively arranged at both ends of the X-direction moving platform (4). The fixed end of the angle adjusting hydraulic cylinder (11) is hinged to the X-direction moving platform (4), and the movable end is hinged to the angle changing platform (6), and is used to drive the angle changing platform (6) to rotate around the hinge axis between it and the X-direction moving platform (4); the hinge axis is perpendicular to the movement direction of the X-direction moving platform (4); an angle sensor is provided on the angle changing platform (6), and the output end of the angle sensor is electrically connected to the host computer; The Y-direction hydraulic cylinder (3), the X-direction hydraulic cylinder (5), and the angle adjustment hydraulic cylinder (11) are all connected to the hydraulic station via hydraulic pipelines. The host computer is electrically connected to the control end of the hydraulic station and is used to control the extension and contraction of the movable ends of the Y-direction hydraulic cylinder (3), the X-direction hydraulic cylinder (5), and the angle adjustment hydraulic cylinder (11). The Y-direction hydraulic cylinder (3), the X-direction hydraulic cylinder (5), and the angle adjustment hydraulic cylinder (11) are all equipped with displacement sensors (37) for detecting the extension and contraction of their movable ends, and the output ends of all the displacement sensors (37) are electrically connected to the host computer.

2. The engine attitude automatic adjustment device according to claim 1, characterized in that: The Y-direction hydraulic cylinder (3), the X-direction hydraulic cylinder (5) and the angle adjustment hydraulic cylinder (11) are all servo hydraulic cylinders; The Y-direction hydraulic cylinder (3) and the X-direction hydraulic cylinder (5) are both equipped with a mechanical locker (35); The mechanical locker (35) is also arranged between the X-direction moving platform (4) and the angle changing platform (6). There are at least two mechanical lockers (35) located between the X-direction moving platform (4) and the angle changing platform (6), and they are arranged at both ends of the X-direction moving platform (4). One end of the mechanical locker (35) is hinged to the X-direction moving platform (4), and the other end is hinged to the angle changing platform (6). The control end of the mechanical locker (35) is electrically connected to the upper machine and is used to lock the movable ends of the Y-direction hydraulic cylinder (3), the X-direction hydraulic cylinder (5) and the angle adjustment hydraulic cylinder (11) after they move to their proper positions.

3. The automatic engine attitude adjustment device according to claim 2, characterized in that: The X-axis moving platform (4) comprises a moving platform bottom plate (41) and first hinge plates (42) arranged on both sides of the top of the moving platform bottom plate (41) along its moving direction; the angle changing platform (6) is located between the two first hinge plates (42) and comprises a changing platform top plate (61) and second hinge plates (62) arranged on both sides of the bottom of the changing platform top plate (61); the changing platform top plate (61) is located above the moving platform bottom plate (41), and the middle parts of the first hinge plate (42) and the second hinge plate (62) located on the same side are hinged by a rotating pin.

4. The automatic engine attitude adjustment device according to claim 3, characterized in that: The inner side wall of the first hinge plate (42) is provided with a plurality of universal balls (8), and the universal balls (8) are used to abut against the second hinge plate (62) on the same side to limit the position of the second hinge plate (62).

5. The automatic engine attitude adjustment device according to claim 4, characterized in that: It also includes a support frame (7) arranged on the bracket (1); There are two support frames (7) and they are respectively located on both sides of the Y-direction lifting platform (2) along the length direction. The Y-direction lifting platform (2) is slidably matched with the inner side surface of the support frame (7).

6. The engine attitude automatic adjustment device according to claim 5, characterized in that: A level sensor is provided on the top of the Y-direction lifting platform (2), and the level sensor is electrically connected to the upper computer.

7. The automatic engine attitude adjustment device according to claim 6, characterized in that: The four corners of the Y-direction lifting platform (2) are respectively connected to four L-shaped connecting frames (9), including a vertical frame and a horizontal frame connected to one side of the bottom end of the vertical frame. The side wall of the Y-direction lifting platform (2) is connected to the inner wall of the vertical frame, and the horizontal frame is in contact with the bottom of the Y-direction lifting platform (2). The movable ends of the four Y-direction hydraulic cylinders (3) are respectively hinged to the top ends of the four vertical frames.

8. The automatic engine attitude adjustment device according to claim 7, characterized in that: Also included is a mounting platform (10); The bracket (1) is arranged on the mounting platform (10), and a plurality of transverse T-slots are provided on the mounting platform (10) along its length direction, and a plurality of longitudinal T-slots are provided along its width direction, and a plurality of T-nuts are provided in each transverse T-slot and longitudinal T-slot, respectively. The bracket (1) is fixed to the mounting platform (10) by bolts connected to the T-nuts. The mounting platform (10) is made of cast iron.

9. The automatic engine attitude adjustment device according to claim 8, characterized in that: One end of the X-direction movable platform (4) is provided with two connecting frames, and there are two X-direction hydraulic cylinders (5), and the movable ends of the two are respectively hinged to the two connecting frames.

10. The engine attitude automatic adjustment device according to claim 5, characterized in that: The Y-axis lifting platform (2) is provided with two slider mounting frames (21) on both sides along the length direction, each slider mounting frame (21) is provided with a slider, and the four slider mounting frames (21) are distributed in a rectangular shape. The inner side surface of each support frame (7) is provided with two linear guide rails along the vertical direction, and the two linear guide rails are parallel to each other. The two sliders located on the same side are respectively slidably matched with the two linear guide rails.

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