Prying block type self-adaptive intelligent compensation device and adjusting method thereof

Abstract

The invention discloses a skid-mounted self-adaptive intelligent compensation device and an adjusting method thereof, and belongs to the technical field of rocket machinery assembly.The skid-mounted self-adaptive intelligent compensation device comprises a mounting base, a bearing mechanism, a driving mechanism and a detecting mechanism are arranged on the mounting base, the bearing mechanism comprises a pair of sliding blocks, and the two sliding blocks are symmetrically distributed in the mounting base; the sliding blocks are in sliding connection with the mounting base, a plurality of turnover blocks are hinged to the ends, away from each other, of the two sliding blocks, the adjacent turnover blocks are sequentially hinged, and the turnover blocks and the sides, away from the mounting base, of the two sliding blocks form an arc-shaped contact surface. The rocket front supporting mechanism can adapt to rockets of different models and can be repeatedly used, and meanwhile the reliability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rocket mechanical assembly, and in particular to a skid-type adaptive intelligent compensation device and an adjustment method thereof. Background Art

[0002] Currently, before a rocket carries out a launch mission, it needs a rocket erection stand to erect the rocket from horizontal to vertical. The erection stand also needs to be installed with equipment such as the filling pipelines required before the rocket launch.

[0003] With respect to the above-mentioned related technologies, the applicant found that different rockets require the design and manufacture of different support structures to be installed on the erection frame to support the erection of the rocket. The designed support structure cannot be used for the erection mission of other rockets. After the erection mission is completed, the corresponding erection frame and support structure are basically discarded and cannot be used again, resulting in huge losses. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a skid-type adaptive intelligent compensation device and an adjustment method thereof, which can adapt to various types of rockets and has a rocket front supporting mechanism that can be repeatedly used, while improving reliability.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: A pry-block type adaptive intelligent compensation device comprises a mounting base, on which a supporting mechanism, a driving mechanism and a detecting mechanism are arranged, the supporting mechanism comprises a pair of sliding blocks, the two sliding blocks are symmetrically distributed in the mounting base, the sliding blocks are slidably connected to the mounting base, a plurality of folding blocks are hinged at one end of the two sliding blocks away from each other, the adjacent folding blocks are hinged in sequence, and the plurality of folding blocks and the side of the two sliding blocks away from the mounting base form an arc-shaped contact surface.

[0006] Furthermore, the driving mechanism includes a ball screw, which is placed between and connected to the two sliding blocks. A sliding groove is opened in the mounting base. The length direction of the sliding groove is parallel to the length direction of the ball screw, and the sliding block slides along the direction of the sliding groove.

[0007] Furthermore, the driving mechanism includes a plurality of electric lead screws, one end of each of the electric lead screws is hinged to the mounting base, and one end of each of the electric lead screws away from the mounting base is hinged to the folding block.

[0008] Furthermore, the detection mechanism includes a plurality of distance measuring sensors and a plurality of pressure sensors, and the distance measuring sensors and the pressure sensors are both placed in the folding block.

[0009] Furthermore, support cover plates are respectively provided at both ends of the folding block away from the mounting base, a support block is rotatably connected between the two support cover plates, the support block is protruding outward between the two support cover plates, and a plurality of support blocks form an arc-shaped contact surface.

[0010] Furthermore, the sliding block and a plurality of folding blocks form a multi-level folding shape.

[0011] A method for adjusting a skid-type adaptive intelligent compensation device includes an initialization stage: When the rocket reaches above the supporting mechanism, it is determined whether to start the driving mechanism to adjust the radial position of the supporting mechanism according to the size of the rocket; When the rocket is hoisted and dropped to the supporting structure, if the diameter of the rocket is greater than 1500 mm and less than 2000 mm, the driving mechanism drives the sliding block to slide outward through the extension movement of the ball screw, and cooperates with the extension and retraction movement of the electric screw to realize the outward expansion of the supporting mechanism; When the position of the folding block reaches the vertical direction directly below the outermost edge of the rocket diameter, the driving mechanism stops driving, completing the radial adjustment process of the supporting mechanism.

[0012] Further, the adjustment phase includes: When the radial adjustment process of the support mechanism is completed, the rocket will come into contact with the support mechanism without the hoist being evacuated; The driving mechanism pushes the supporting mechanism toward the rocket through the telescopic movement of the electric lead screw until it contacts the rocket. At this time, according to the test data of the detection agency, it is ensured that the supporting mechanism is in full contact with the rocket and the clamping process is completed; At this time, the rocket's hoisting is detached, and the rocket is completely placed flat on the rocket erection frame under the support of the supporting mechanism.

[0013] Further, the adaptive phase includes: The detection mechanism monitors the distance and contact pressure between the supporting mechanism and the rocket in real time, and the control system adjusts the driving speed of the driving mechanism according to the data from the sensor; The driving mechanism forms an arc in close contact with the rocket through the telescopic movement of the electric lead screw and the ball screw, and the support mechanism rotates adaptively; When the sensor of the detection mechanism enters the set threshold range, the driving mechanism stops driving the electric lead screw and the ball screw and enters a self-locking state; The detection mechanism is always turned on during use. Any abnormal situation will trigger an alarm and prompt timely adjustments and maintenance.

[0014] Furthermore, when the rocket size is between 1000 mm and 1500 mm, the rocket is directly placed close to the supporting mechanism under hoisting, and the clamping process begins directly without the need for a radial adjustment process.

[0015] In summary, compared with the prior art, the above technical solution has the following beneficial effects: The support block of the present invention is matched with the folding block and the sliding block. The folding block and the sliding block can adapt to the size of the rocket under the push of the ball screw and two sets of electric screws. They can be installed on different rocket erection frames to support rockets with diameters ranging from 1000 to 2000 mm. It has the effects of high integration, integration of mechanical structure and control, high control accuracy and strong maintainability. It can adapt to various types of rockets and has a rocket front supporting mechanism that can be reused, while improving reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 The longitudinal section of the present invention Figure 1 ; Figure 3 The longitudinal section of the present invention Figure 2 ; Figure 4 It is a schematic diagram of the support block structure of the present invention; Figure 5 It is a schematic diagram of the sensor position of the present invention; Figure 6 Schematic diagram of the working state of the initialization phase of the present invention Figure 1 ; Figure 7 Schematic diagram of the working state of the adjustment stage of the present invention Figure 2 ; Figure 8 Schematic diagram of the working state of the adaptive stage of the present invention Figure 3 .

[0017] Explanation of the reference numerals: 1. sliding block; 2. folding block one; 3. folding block two; 4. folding block three; 5. folding block four; 6. supporting block; 7. ball screw; 8. electric screw one; 9. electric screw two; 10. sliding groove; 11. supporting cover; 12. mounting base; 13. distance sensor one; 14. distance sensor two. DETAILED DESCRIPTION

[0018] The principles and features of the present invention are described below in conjunction with all the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0019] The embodiment of the invention discloses a skid-type adaptive intelligent compensation device and an adjustment method thereof.

[0020] Reference Figure 1 and Figure 2A pry-type adaptive intelligent compensation device includes a mounting base 12, on which a supporting mechanism, a driving mechanism and a detecting mechanism are arranged, the supporting mechanism includes a pair of sliding blocks 1, the two sliding blocks 1 are symmetrically distributed and arranged in the mounting base 12, the sliding blocks 1 are slidably connected to the mounting base 12, and a plurality of folding blocks are hinged at one end of the two sliding blocks 1 away from each other, and the adjacent folding blocks are hinged in sequence, and the plurality of folding blocks and the side of the two sliding blocks 1 away from the mounting base 12 form an arc-shaped contact surface.

[0021] In this embodiment, there are eight folding blocks, which are symmetrically distributed on both sides. The folding blocks on one side are folding block 1 2, folding block 2 3, folding block 3 4, and folding block 4 5 from far to near. The sliding block 1 and several folding blocks form a multi-level folding shape. The sliding block 1, folding block 1 2, folding block 2 3, folding block 3 4, and folding block 4 5 on one side are connected in pairs through cylindrical grooves and cylinders.

[0022] Reference Figure 3 and Figure 4 , support cover plates 11 are respectively provided at both ends of the folding block away from the mounting base 12, and a support block 6 is rotatably connected between the two support cover plates 11. The support block 6 is arranged to protrude outward between the two support cover plates 11, and a plurality of support blocks 6 form an arc-shaped contact surface. The support block 6 is a cylindrical structure protruding on both sides of a cube, wherein the upper and lower contact surfaces are arc surfaces. The arc radius of the support block 6 can be set to 1000-2000mm according to actual needs. In this embodiment, there are 58 support blocks 6, which are respectively installed on each folding block, and the cylindrical structures cooperate with each other to realize the rotation of the support block 6 on the folding block.

[0023] The surface of the support block 6 is covered with wool felt with a thickness of 2 mm. The support block 6 is mounted on the sliding block 1, the folding block 1 2, the folding block 2 3, the folding block 3 4, and the folding block 4 5 on one side through the cylindrical installation at both ends. The sliding block 1, the folding block 1 2, the folding block 2 3, the folding block 3 4, and the folding block 4 5 are connected by the cylindrical connection to achieve rotation. In this embodiment, the sliding block 1, the folding block 2 3, and the folding block 4 5 are wide structures with cylindrical holes, and the folding block 1 2 and the folding block 3 4 are narrow structures with cylindrical protrusions, and they are matched in pairs.

[0024] Reference Figure 1 and Figure 2 The driving mechanism includes a ball screw 7, which is placed between and connected to the two sliding blocks 1. A sliding groove 10 is provided in the mounting base 12. The length direction of the sliding groove 10 is parallel to the length direction of the ball screw 7. The sliding block 1 slides along the sliding groove 10. The ball screw 7 is installed inside the mounting base 12, connecting the mounting base 12 and the sliding block 1. When rotating, it drives the sliding blocks 1 on both sides to move simultaneously. The sliding block 1 cooperates with the sliding groove 10 through a structural protrusion.

[0025] The driving mechanism includes a plurality of electric lead screws, one end of which is hinged to the mounting base 12, and one end of which is away from the mounting base 12 is hinged to the folding block. In this embodiment, there are four electric lead screws 1 8, which are symmetrically distributed on both sides. The electric lead screws on one side are electric lead screw 1 8 and electric lead screw 2 9 from far to near. The ball screw 7, electric lead screw 1 8, and electric lead screw 2 9 form a single-sided multi-stage drive unit. Both the electric lead screw 1 8 and the electric lead screw 2 9 have a self-locking function and can be reliably supported after being driven into place.

[0026] The mounting base 12 is provided with mounting ear plates for the electric screw 1 8 and the electric screw 2 9 and a mounting base for the ball screw 7. The sliding block 1 slides left and right in the mounting base 12 under the action of the ball screw 7, and its sliding range is limited by the length of the sliding groove 10.

[0027] The drive mechanism implements a graded motion strategy. The first-stage drive: the ball screw 7 is radially adjusted according to the preset rocket diameter parameters. The second-stage drive: the electric screw 1 8 and the electric screw 2 9 are telescopically adjusted according to the feedback of the detection module. The combination of the two-stage drive and the detection mechanism realizes high-precision positioning.

[0028] Reference Figure 5 The detection mechanism includes several ranging sensors and several pressure sensors. The laser ranging sensor and the pressure sensor form a double insurance. The ranging sensor and the pressure sensor are both placed in the folding block. In this embodiment, a total of four ranging sensors are listed, which are symmetrically distributed on both sides. The ranging sensors on one side are ranging sensor 13 and ranging sensor 2 14 from far to near. The ranging sensor 1 13 and the ranging sensor 2 14 form a unilateral closed-loop feedback system that can adaptively support rockets with a secondary diameter of 1000 mm to 2000 mm. In this embodiment, the unilateral ranging sensor 1 13 and the ranging distance sensor 2 can monitor the contact between the folding block 2 3 and the folding block 4 5 and the surface of the rocket.

[0029] The support block 6 of the present invention is matched with the folding block and the sliding block 1. The folding block and the sliding block 1 can change their sizes to adapt to rockets of different specifications and sizes under the push of the ball screw 7 and two sets of electric screws. They can be installed on rocket erection frames of different specifications, and can support rockets with diameter sizes ranging from 1000 to 2000 mm. They have the effects of high integration, integrated mechanical structure and control, high control accuracy and strong maintainability. They can adapt to various types of rockets and have a rocket front supporting mechanism that can be reused, while improving reliability.

[0030] A method for adjusting a skid-type adaptive intelligent compensation device, Reference Figure 6, including the initialization stage: when the rocket reaches the top of the supporting mechanism, it is determined whether to start the driving mechanism to adjust the radial position of the supporting mechanism according to the size of the rocket. When the rocket is hoisted and falls to the supporting structure, if the diameter of the rocket is greater than 1500 mm and less than 2000 mm.

[0031] At this time, the driving mechanism drives the sliding block 1 to slide outward through the extension movement of the ball screw 7, and cooperates with the telescopic movement of the electric screw 1 8 and the electric screw 2 9 to realize the outward expansion of the supporting mechanism.

[0032] The included angle between the electric lead screw 1 8 and the mounting base 12 is α, and the included angle between the electric lead screw 2 9 and the mounting base 12 is β. In the initialization stage, the angles α and β are also adjusted accordingly with the telescopic movement of the ball screw 7.

[0033] When the position of the folding block reaches the vertical direction directly below the outermost edge of the rocket diameter, the driving mechanism stops driving, completing the radial adjustment process of the supporting mechanism.

[0034] Reference Figure 7 , including the adjustment phase: after completing the radial adjustment process of the supporting mechanism, the rocket will come into contact with the supporting mechanism without the lifting device being evacuated.

[0035] The driving mechanism pushes the supporting mechanism toward the rocket through the telescopic movement of the electric lead screw 1 8 and the electric lead screw 2 9.

[0036] The angle between the electric lead screw 1 8 and the mounting base 12 is α, and the angle between the electric lead screw 2 9 and the mounting base 12 is β. During the adjustment stage, the angles α and β are also adjusted accordingly with the telescopic movement of the electric lead screw 1 8 and the electric lead screw 2 9.

[0037] Until it comes into contact with the rocket, at this time, according to the test data of the inspection agency, it is ensured that the supporting mechanism is in full contact with the rocket and the holding process is completed. At this time, the rocket's hoisting is detached, and the rocket is completely placed flat on the rocket erection frame under the support of the supporting mechanism.

[0038] Reference Figure 8 , including an adaptive stage: the detection mechanism monitors the distance and contact pressure between the supporting mechanism and the rocket in real time, and the control system adjusts the driving speed of the driving mechanism according to the sensor data.

[0039] The driving mechanism forms an arc in close contact with the rocket through the telescopic movement of the electric lead screw 1 8, the electric lead screw 2 9 and the ball screw 7, and the supporting mechanism rotates adaptively.

[0040] The angle between the electric screw 1 8 and the mounting base 12 is α, and the angle between the electric screw 2 9 and the mounting base 12 is β. In the adaptive stage, the angles α and β also change accordingly with the telescopic movement of the electric screw 1 8, the electric screw 2 9 and the ball screw 7.

[0041] When the sensor of the detection mechanism enters the set threshold range, the driving mechanism stops driving the electric screw 1 8, the electric screw 2 9 and the ball screw 7, and enters the self-locking state. During use, the detection mechanism is always turned on, and an abnormal situation triggers an alarm and timely adjustment and maintenance.

[0042] When the rocket size is between 1000 mm and 1500 mm, the rocket is directly placed close to the supporting structure under hoisting, and the clamping process begins directly without the need for radial adjustment.

[0043] The implementation principle of a skid-type adaptive intelligent compensation device and its adjustment method in an embodiment of the present invention is as follows: In the initialization stage, when the rocket reaches the top of the supporting mechanism through the crane, it is determined whether to start the ball screw 7 to adjust the radial position of the supporting mechanism according to the size of the rocket. When the rocket is falling to the supporting mechanism, if the diameter of the rocket is greater than 1500 mm and less than 2000 mm, the ball screw 7 drives the sliding block 1 to slide outward, cooperates with the telescopic movement of the electric screw 1 8 and the electric screw 2 9, and drives the supporting mechanism to expand outward. When the position of the folding block 2 3 reaches the vertical direction directly below the outermost outer diameter of the rocket, the ball screw 7 stops driving, completing the radial adjustment process of the supporting mechanism.

[0044] During the adjustment phase, after the radial adjustment process is completed, the rocket will contact the supporting mechanism without the lifting device being evacuated. First, the electric lead screw 18 pushes the folding block 23 to move closer to the rocket, and the folding block 23 will drive the folding block 12 and the folding block 34 to move closer to the rocket. When the electric lead screw 18 pushes the folding block 23 to contact the rocket, and the electric lead screw 18 stops moving, at this time, according to the test data of the distance sensor 13, it is ensured that the folding block 23 is completely in contact with the rocket and the electric lead screw 18 stops moving. At this time, the electric lead screw 29 starts to push the folding block 45 to move closer to the rocket, and the folding block 45 will drive the folding block 34 to move closer to the rocket. When the folding block 45 is completely in contact with the rocket, according to the test data of the distance sensor 214, it is ensured that the folding block 45 is completely in contact with the rocket and the electric lead screw 29 stops pushing. At this time, the rocket lifting device is detached, and the rocket is completely placed flat on the rocket erection frame under the support of the supporting mechanism.

[0045] In the adaptive stage, the detection mechanism monitors the distance and contact pressure between the device and the rocket in real time, and adjusts the driving speed of the electric screw 1 8 and the electric screw 2 9 according to the data transmitted by the distance sensor and the pressure sensor. Since each folding block is connected by a rotating pair, when the folding block 2 3 and the folding block 4 5 are in contact with the rocket under the driving action of the electric screw 1 8 and the electric screw 2 9, due to the motion constraint of the rotating pair, the folding block 1 2 and the folding block 3 4 will also be driven to move closer to the rocket until they are in contact. At this time, there may be a certain gap between the folding block 1 2 and the folding block 3 4 and the rocket. According to the results of the model motion simulation, the thickness of the wool felt covered by the support block 6 on the folding block 1 2 and the folding block 3 4 can be increased. Since all the support blocks 6 are connected to each folding block through a rotating pair, under the pressure of the electric screw 1 8, the electric screw 2 9 and the ball screw 7, each support block 6 will rotate adaptively to form a circular arc in close contact with the rocket.

[0046] When the distance sensor and pressure sensor of the detection mechanism enter the set threshold range, the driving mechanism stops driving the electric screw 1 8, the electric screw 2 9 and the ball screw 7 and enters the self-locking state. During use, the detection mechanism is always turned on, and an abnormal situation triggers an alarm for timely adjustment and maintenance.

[0047] When the rocket size is between 1000 mm and 1500 mm, the rocket is directly close to the supporting structure under the hoisting. At this time, there is no need for radial adjustment process and the clamping process starts directly.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A skid-type adaptive intelligent compensation device, characterized in that: The invention comprises a mounting base (12), on which a supporting mechanism, a driving mechanism and a detecting mechanism are arranged, the supporting mechanism comprising a pair of sliding blocks (1), the two sliding blocks (1) being symmetrically distributed and arranged in the mounting base (12), the sliding blocks (1) being slidably connected to the mounting base (12), a plurality of folding blocks being hingedly connected at one end of the two sliding blocks (1) away from each other, the adjacent folding blocks being hingedly connected in sequence, and the plurality of folding blocks and the side of the two sliding blocks (1) away from the mounting base (12) forming an arc-shaped contact surface.

2. A skid-type adaptive intelligent compensation device according to claim 1, characterized in that: The driving mechanism comprises a ball screw (7), the ball screw (7) is arranged between the two sliding blocks (1) and connected to the two sliding blocks (1), a sliding groove (10) is provided in the mounting base (12), the length direction of the sliding groove (10) is parallel to the length direction of the ball screw (7), and the sliding block (1) slides along the direction of the sliding groove (10).

3. The skid-type adaptive intelligent compensation device according to claim 1 is characterized in that: The driving mechanism comprises a plurality of electric lead screws, one end of each of the electric lead screws is hinged to the mounting base (12), and one end of each of the electric lead screws away from the mounting base (12) is hinged to the folding block.

4. The skid-type adaptive intelligent compensation device according to claim 1 is characterized in that: The detection mechanism comprises a plurality of distance measuring sensors and a plurality of pressure sensors, and both the distance measuring sensors and the pressure sensors are arranged in the folding block.

5. The skid-type adaptive intelligent compensation device according to claim 1 is characterized in that: The two ends of the folding block away from the mounting base (12) are respectively provided with support cover plates (11); a support block (6) is rotatably connected between the two support cover plates (11); the support block (6) is arranged to protrude outwards between the two support cover plates (11); and a plurality of support blocks (6) form an arc-shaped contact surface.

6. The skid-type adaptive intelligent compensation device according to claim 1 is characterized in that: The sliding block (1) and a plurality of folding blocks form a multi-level folding shape.

7. A method for adjusting a skid-type adaptive intelligent compensation device according to any one of claims 1 to 6, characterized in that: Including the initialization phase: When the rocket reaches above the supporting mechanism, it is determined whether to start the driving mechanism to adjust the radial position of the supporting mechanism according to the size of the rocket; When the rocket is hoisted and dropped to the supporting structure, if the diameter of the rocket is greater than 1500 mm and less than 2000 mm, the driving mechanism drives the sliding block (1) to slide outward through the extension movement of the ball screw (7), and cooperates with the extension movement of the electric screw to realize the outward expansion of the supporting structure; When the position of the folding block reaches the vertical direction directly below the outermost edge of the rocket diameter, the driving mechanism stops driving, completing the radial adjustment process of the supporting mechanism.

8. The adjustment method of a skid-type adaptive intelligent compensation device according to claim 7 is characterized in that: The adjustment phase includes: When the radial adjustment process of the support mechanism is completed, the rocket will come into contact with the support mechanism without the hoist being evacuated; The driving mechanism pushes the supporting mechanism toward the rocket through the telescopic movement of the electric lead screw until it contacts the rocket. At this time, according to the test data of the detection agency, it is ensured that the supporting mechanism is in full contact with the rocket and the clamping process is completed; At this time, the rocket's hoisting is detached, and the rocket is completely placed flat on the rocket erection frame under the support of the supporting mechanism.

9. The adjustment method of a skid-type adaptive intelligent compensation device according to claim 8, characterized in that: The adaptive phase includes: The detection mechanism monitors the distance and contact pressure between the supporting mechanism and the rocket in real time, and the control system adjusts the driving speed of the driving mechanism according to the data from the sensor; The driving mechanism performs telescopic movement by cooperating with the electric lead screw and the ball screw (7), and the supporting mechanism rotates adaptively to form an arc in close contact with the rocket; When the sensor of the detection mechanism enters the set threshold range, the driving mechanism stops driving the electric lead screw and the ball screw (7) and enters a self-locking state; The detection mechanism is always turned on during use. Any abnormal situation will trigger an alarm and prompt timely adjustments and maintenance.

10. The adjustment method of the skid-type adaptive intelligent compensation device according to claim 9, characterized in that: When the rocket size is between 1000 mm and 1500 mm, the rocket is directly placed close to the supporting structure under hoisting, and the clamping process begins directly without the need for radial adjustment.

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