Aligning tool for installing launching tube and aligning control method

Abstract

The invention discloses a self-aligning tool and a self-aligning control method for mounting a launching tube, and belongs to the technical field of launching tube mounting. The self-aligning tool comprises a base, two position adjusting assemblies and a self-aligning shaft assembly; the aligning shaft assembly is erected on the two position adjusting assemblies and used for penetrating through the launching tube and the fixing platform at the same time. The aligning shaft assembly comprises a rigid shaft body and a plurality of radial supporting assemblies distributed on the rigid shaft body. The position adjusting assembly is used for driving the rigid shaft body to move in a plane perpendicular to the axial direction of the rigid shaft body; the radial supporting assembly is used for stretching out and drawing back in the radial direction relative to the rigid shaft body to abut against the inner wall of the launching tube. The aligning tool aims at solving the problems that pipe penetrating in a narrow space is difficult, and a scheme capable of conducting unified reference aligning on a plurality of bearing holes at the same time lacks, high-precision and high-efficiency aligning operation is achieved, and the installation quality and reliability of an underwater vehicle launching system are fundamentally improved.

Description

Technical Field

[0001] This invention belongs to the field of transmitter tube installation technology, and specifically relates to a self-aligning tool and self-aligning control method for installing transmitter tubes. Background Technology

[0002] In the assembly of underwater vehicle launch systems, the coaxiality between multiple launch tubes and between the launch tubes and the hull base is a core precision indicator determining the performance and safety of the entire system. Coaxiality errors can directly lead to abnormal contact or even interference collisions between the vehicle and the tube wall during launch. This can range from minor issues like trajectory deviation and impaired initial aiming accuracy of the weapon system and proper release of the wire-guided conductor, to serious consequences such as equipment damage and launch failure. Therefore, for systems consisting of multiple segments installed in multiple support holes, controlling coaxiality accuracy and reducing cumulative errors is particularly crucial.

[0003] Existing tube assembly methods face a dual challenge in ensuring high-order coaxiality.

[0004] Firstly, due to space constraints, the gap between the launch tube and the platform support hole is usually very small (for example, the gap between a 10,000 mm long launch tube and the platform support hole is 10 mm). This makes it very difficult for the launch tube to get stuck or scratched when it passes through multiple support holes during installation due to slight angular deviations and hole walls. Secondly, traditional processes rely heavily on the experience of operators for segmented and item-by-item adjustments, lacking a systematic tooling and method capable of simultaneously centering multiple support holes to a unified reference. This assembly process is not only inefficient but also makes it difficult to guarantee installation quality and repeatability.

[0005] Therefore, there is an urgent need for a dedicated assembly tooling and method that can overcome the difficulties of pipe insertion in confined spaces and systematically achieve high precision and high efficiency in order to fundamentally improve the installation quality and reliability of underwater vehicle launch systems. Summary of the Invention

[0006] The purpose of this invention is to provide a self-aligning fixture and self-aligning control method for installing launch tubes, aiming to solve the problems of difficulty in inserting tubes in confined spaces and the lack of a solution that can simultaneously perform unified benchmark self-aligning on multiple support holes, thereby achieving high-precision and high-efficiency self-aligning operations and fundamentally improving the installation quality and reliability of underwater vehicle launch systems.

[0007] In a first aspect, the present invention provides a self-aligning fixture for mounting a transmitting tube, comprising: A base for holding a launch tube and a fixed platform, the launch tube being able to be fitted into a support hole in the fixed platform; Two position adjustment components are disposed on the base and located on both sides of the fixed platform along its axial direction. A self-aligning shaft assembly is mounted on two position adjustment assemblies and is used to pass through both the launch tube and the fixed platform simultaneously. The self-aligning shaft assembly includes a rigid shaft and multiple radial support assemblies distributed on the rigid shaft. These radial support assemblies are divided into multiple support groups, each support group consisting of at least three radial support assemblies. The support groups are spaced apart along the axial direction of the rigid shaft, and all radial support assemblies within the same support group are evenly distributed circumferentially along the rigid shaft. The position adjustment assemblies are used to drive the rigid shaft to move in a plane perpendicular to the axial direction of the rigid shaft. The radial support assemblies are used to extend and retract radially relative to the rigid shaft to abut against the inner wall of the launch tube.

[0008] The self-aligning fixture for installing the launch tube provided by the present invention enables the launch tube to pass smoothly through narrow gaps and achieve high-precision coaxiality assembly through the precise self-aligning of the self-aligning shaft assembly and the flexible support of the radial support assembly, overcoming the shortcomings of traditional methods such as low efficiency and difficulty in guaranteeing accuracy.

[0009] Furthermore, the position adjustment component includes a horizontal adjustment unit and a vertical adjustment unit; The horizontal adjustment unit is mounted on the base and is used to drive the rigid shaft to move in the horizontal direction; The vertical adjustment unit is connected between the horizontal adjustment unit and the rigid shaft, and is used to drive the rigid shaft to move in the vertical direction. The horizontal adjustment unit works in conjunction with the vertical adjustment unit to drive the rigid shaft to move in two dimensions within a plane perpendicular to the axial direction of the rigid shaft.

[0010] Furthermore, the horizontal adjustment unit includes a double-groove slide rail, a translation slider support, and a hand-cranked screw; The double-groove slide rail is fixedly mounted on the base, and the translation slider support is slidably connected to the double-groove slide rail; The hand crank screw is connected to the translation slider support and is used to drive the translation slider support to move horizontally along the double-groove slide rail by rotation; The vertical adjustment unit includes a lifting and fixing platform and a lifting electric cylinder; The lifting electric cylinder is installed on the translation slider support, and its output end is connected to the lifting fixed platform, which is used to drive the lifting fixed platform to move vertically up and down relative to the translation slider support.

[0011] Furthermore, each of the support groups consists of four radial support components.

[0012] Furthermore, the radial support assembly includes a telescopic drive unit and a roller unit; The telescopic drive unit is fixedly mounted on the rigid shaft and is used to output displacement along the radial direction of the rigid shaft; The roller unit is rotatably connected to the output end of the telescopic drive unit and is used to abut against the inner wall of the launch tube under the drive of the telescopic drive unit.

[0013] Furthermore, the telescopic drive unit includes a roller mounting bracket guide, and the roller unit includes a roller mounting bracket and rollers; The roller mounting bracket guide is fixedly mounted on the rigid shaft. The roller mounting bracket is slidably inserted into the roller mounting bracket guide tube, and the roller is rotatably mounted on the end of the roller mounting bracket; The roller mounting bracket and the roller mounting bracket guide cooperate to restrict the roller to move only radially along the rigid shaft.

[0014] Furthermore, the base is also provided with a platform saddle, which has a support surface adapted to the shape of the fixed platform and is used to support the fixed platform.

[0015] Furthermore, the base is also provided with a launch tube saddle, which has a support surface adapted to the shape of the launch tube and is used to support the launch tube.

[0016] Furthermore, the self-aligning shaft assembly also includes a self-aligning shaft saddle, and the rigid shaft is fixedly mounted on the lifting and fixing platform via the self-aligning shaft saddle to adjust its position following the lifting and fixing platform.

[0017] Secondly, the present invention provides a self-aligning control method based on the aforementioned self-aligning fixture for mounting a transmitter tube, the self-aligning control method comprising the following steps: S1. Place the launching tube and the fixed platform on the base, and after the rigid shaft passes through the launching tube and the fixed platform, control the position adjustment component to drive the rigid shaft to move to be coaxial with the support hole in the fixed platform; S2. Control the telescopic drive units of all radial support components in the same support group to extend synchronously, so that the roller units of all radial support components in the same support group move closer to the inner wall of the launching tube; S3. Monitor the contact force feedback values ​​of all radial support components in the same support group in real time, and calculate the load difference between the contact force feedback value and the preset contact force reference value; S4. When the load difference exceeds the preset balance threshold range, the extension amount of the telescopic drive unit of the radial support component in the same support group is dynamically adjusted according to the load difference until the load difference is within the balance threshold range. S5. When the load difference is within the balance threshold range, control the telescopic drive unit of the radial support component in the same support group to lock the current position and establish the coaxial reference between the rigid shaft and the launch tube; S6. Drive the launching tube to move closer to the fixed platform, and during the movement, control all the radial support components that the launching tube passes through to perform steps S2-S5 until the launching tube is assembled into the support hole in the fixed platform.

[0018] As described above, the self-aligning fixture for installing the launch tube of the present invention comprises a base, a position adjustment component, and a self-aligning shaft assembly. The self-aligning shaft assembly includes a rigid shaft and multiple radial support components. The position adjustment component drives the rigid shaft to move, and the radial support components extend and retract radially to abut against the inner wall of the launch tube. This technical solution effectively solves the problems of installation difficulties, jamming, and scratches caused by the narrow gap between the launch tube and the platform support hole in the prior art, as well as the technical difficulties of traditional processes relying on experience, low efficiency, and difficulty in ensuring installation quality and repeatability. This self-aligning fixture enables high-precision coaxiality adjustment of the launch tube and the fixed platform, ensuring that the launch tube smoothly passes through multiple support holes within a narrow gap, avoiding jamming and scratches. It significantly improves assembly efficiency and quality, reduces reliance on operator experience, and thus overcomes the dual challenges of ensuring high-order coaxiality in the prior art.

[0019] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a self-aligning fixture for mounting a transmitter tube, provided in an embodiment of the present invention, before the transmitter tube is assembled.

[0021] Figure 2 This is a schematic diagram of the structure of a self-aligning fixture for mounting a transmitter tube, provided in an embodiment of the present invention, after the transmitter tube is assembled.

[0022] Figure 3 This is an exploded view of a self-aligning fixture for mounting a launch tube, provided in an embodiment of the present invention.

[0023] Figure 4This is a schematic diagram of the position adjustment component in an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the radial support component in an embodiment of the present invention.

[0025] Figure 6 This is a flowchart of a center-aligning control method provided in an embodiment of the present invention.

[0026] Label Explanation: 100. Base; 110. Platform saddle; 120. Launch tube saddle; 200. Launch tube; 300. Fixed platform; 310. Support hole; 400. Position adjustment assembly; 410. Horizontal adjustment unit; 411. Double groove slide rail; 412. Translation slider support; 413. Hand crank screw; 420. Vertical adjustment unit; 421. Lifting fixed platform; 422. Lifting electric cylinder; 500. Self-aligning shaft assembly; 510. Rigid shaft; 520. Radial support assembly; 521. Roller mounting bracket guide; 522. Roller mounting bracket; 523. Roller; 530. Self-aligning shaft saddle. Detailed Implementation

[0027] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0028] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0031] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0033] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Also, in the description of this invention, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0034] Reference Appendix Figure 1 Appendix Figure 2 and attached Figure 3 The present invention provides a self-aligning fixture for mounting a transmitter tube, comprising: The base 100 is used to place the launch tube 200 and the fixed platform 300. The launch tube 200 can be assembled into the support hole 310 in the fixed platform 300. Two position adjustment components 400 are disposed on the base 100 and located on both sides of the fixed platform 300 along the axial direction. A self-aligning shaft assembly 500 is mounted on two position adjustment assemblies 400 and is used to pass through both the launch tube 200 and the fixed platform 300 simultaneously. The self-aligning shaft assembly 500 includes a rigid shaft 510 and a plurality of radial support assemblies 520 distributed on the rigid shaft 510. The plurality of radial support assemblies 520 are divided into a plurality of support groups, each support group consisting of at least three radial support assemblies 520. The plurality of support groups are spaced apart along the axial direction of the rigid shaft 510, and all radial support assemblies 520 in the same support group are evenly distributed circumferentially along the rigid shaft 510. The position adjustment assembly 400 is used to drive the rigid shaft 510 to move in a plane perpendicular to the axial direction of the rigid shaft 510. The radial support assemblies 520 are used to extend and retract radially relative to the rigid shaft 510 to abut against the inner wall of the launch tube 200.

[0035] This embodiment provides a self-aligning fixture for installing a transmitter tube, which aims to solve the problems of jamming and scratching caused by angular deviation when installing a transmitter tube in a confined space, and to systematically achieve high-precision self-alignment.

[0036] The self-aligning fixture includes a base 100 for housing the launch tube 200 and the fixed platform 300. The launch tube 200 can be fitted into a support hole 310 in the fixed platform 300. The base 100 can take various structural forms; for example, it can be a robust metal frame with its upper surface precision-machined to ensure flatness, thereby providing stable support for the launch tube 200 and the fixed platform 300. In another implementation, the base 100 can consist of multiple height-adjustable support units to accommodate launch tubes 200 and fixed platforms 300 of different sizes. The stability of the base 100 is crucial to the entire self-aligning process; any slight wobbling can affect the final self-aligning accuracy.

[0037] Two position adjustment components 400 are mounted on the base 100 and located on either side of the fixed platform 300 along its axial direction. The position adjustment components 400 drive the rigid shaft 510 to move in a plane perpendicular to its axial direction. The position adjustment components 400 can be manually operated, for example, using a handwheel and lead screw mechanism for fine-tuning in the horizontal and vertical directions. The operator can precisely control the position of the rigid shaft 510 by rotating the handwheel. Alternatively, the position adjustment components 400 can employ an electrically operated mechanism, for example, using a linear guide rail and ball screw driven by a stepper motor or servo motor, to achieve automated and more precise position adjustment. This electrically operated method reduces human error and improves self-aligning efficiency.

[0038] The self-aligning shaft assembly 500 is mounted on two position adjustment assemblies 400 and is used to pass through both the launch tube 200 and the fixed platform 300 simultaneously. The self-aligning shaft assembly 500 includes a rigid shaft 510 and multiple radial support assemblies 520 distributed on the rigid shaft 510. The rigid shaft 510 can be made of high-strength alloy steel and precision ground and polished to ensure its surface smoothness and dimensional accuracy. The diameter of the rigid shaft 510 should be slightly smaller than the inner diameter of the launch tube 200 and the support hole 310 to facilitate passage. The radial support assemblies 520 can employ a pneumatically or hydraulically driven telescopic mechanism, extending or retracting radially by controlling air or hydraulic pressure. In another implementation, the radial support assembly 520 can employ an electric lead screw drive mechanism, using a micro-motor to drive the lead screw for precise extension and retraction.

[0039] At least three radial support components 520 constitute a support group. Multiple support groups are distributed at intervals along the axial direction of the rigid shaft 510, and all radial support components 520 in the same support group are evenly distributed circumferentially along the rigid shaft 510. The radial support components 520 are used to extend and retract radially relative to the rigid shaft 510 to abut against the inner wall of the launch tube 200. For example, each support group can consist of three radial support components 520, which are evenly distributed at 120 degrees circumferentially along the rigid shaft 510, thus forming a stable three-point support. Multiple such support groups are distributed at equal intervals along the axial direction of the rigid shaft 510, for example, one support group is provided at the head, middle and tail of the rigid shaft 510. This multi-point, uniform support method can ensure that the launch tube 200 is subjected to a balanced radial force during self-alignment, avoiding deformation or jamming caused by uneven local force.

[0040] The self-aligning fixture for mounting the launch tube of the underwater vehicle in this embodiment includes a self-aligning fixture base and a self-aligning shaft assembly 500. The self-aligning fixture base includes a base 100, a platform saddle 110, a position adjustment assembly 400, and a launch tube saddle 120. The platform saddle 110, which supports the vehicle platform, and the launch tube saddle 120, which supports the launch tube, are rigidly fixed to the base 100. Two position adjustment assemblies 400 are respectively placed at both ends of the base 100 along its length, for precise adjustment of the self-aligning shaft assembly 500 in the height and horizontal directions. The self-aligning shaft assembly 500 includes a rigid shaft 510, a radial support assembly 520, and a self-aligning shaft saddle 530. The rigid shaft 510 is fixed to the lifting and fixing platform 421 via the self-aligning shaft saddle 530. Slots are provided at four equally spaced points on the rigid shaft 510 for the installation of the radial support assembly 520. The radial support assembly 520 includes a roller 523, a roller mounting bracket 522, and a roller mounting bracket guide 521. The roller mounting bracket 522 and the roller mounting bracket guide 521 work together to allow the roller 523 to be raised and lowered.

[0041] The following example will provide a more detailed explanation of the above technical solution: Suppose that during the assembly of an underwater vehicle launch system, a 10,000 mm long launch tube 200 needs to be precisely installed into the support hole 310 of a fixed platform 300. Traditional assembly methods, in narrow gaps (e.g., 10 mm), are prone to jamming or scratching of the launch tube 200 and the support hole 310 due to minute angular deviations, and lack systematic self-aligning methods.

[0042] In response, this application proposes a self-aligning fixture for mounting a launch tube. First, the launch tube 200 and the fixed platform 300 are placed on the base 100. The base 100 is provided with a platform saddle 110 and a launch tube saddle 120, which respectively have support surfaces adapted to the shape of the fixed platform 300 and the launch tube 200, ensuring placement stability and initial alignment.

[0043] Next, the self-aligning shaft assembly 500 is mounted on the two position adjustment assemblies 400 on the base 100. The rigid shaft 510 of the self-aligning shaft assembly 500 is carefully passed through the inner cavity of the firing tube 200 and the support hole 310 of the fixed platform 300. At this time, due to the gap between the firing tube 200 and the support hole 310, the rigid shaft 510 may not be completely coaxial with the support hole 310.

[0044] To achieve precise alignment, the operator adjusts the position of the rigid shaft 510 using two position adjustment components 400. Each position adjustment component 400 includes a horizontal adjustment unit 410 and a vertical adjustment unit 420. The horizontal adjustment unit 410 drives the translation slider support 412 to move horizontally on the double-groove slide rail 411 via a hand crank screw 413, thereby adjusting the horizontal position of the rigid shaft 510. The vertical adjustment unit 420 drives the lifting fixed platform 421 to move vertically up and down via a lifting electric cylinder 422, thereby adjusting the vertical position of the rigid shaft 510. By independently controlling the two position adjustment components 400, the posture of the rigid shaft 510 in space can be precisely adjusted to achieve high-precision coaxiality with the support hole 310 of the fixed platform 300. For example, using the first and last ends of the support hole 310 of the fixed platform 300 as references, the two position adjustment components 400 are adjusted respectively to make the axis of the rigid shaft 510 coincide with the axis of the support hole 310.

[0045] After the rigid shaft 510 is coaxial with the support hole 310, multiple radial support assemblies 520 on the self-aligning shaft assembly 500 begin to function. Each support group consists of four radial support assemblies 520, which are evenly distributed circumferentially along the rigid shaft 510. Each radial support assembly 520 includes a telescopic drive unit and a roller unit. The telescopic drive unit drives the roller unit to extend radially, causing its rollers 523 to abut against the inner wall of the launch tube 200. By controlling the synchronous extension of all radial support assemblies 520, the rollers 523 are made to contact the inner wall of the launch tube 200 evenly, thereby aligning the axis of the launch tube 200 with the axis of the rigid shaft 510.

[0046] Throughout the process, the roller units of the radial support assembly 520 convert the sliding friction between the rigid shaft 510 and the launching tube 200 into rolling friction, greatly reducing the moving resistance and allowing the launching tube 200 to move smoothly during subsequent assembly, avoiding jamming and scratches. When the launching tube 200 is driven to move closer to the fixed platform 300, all the radial support assemblies 520 that pass through will perform the above-mentioned extension and support operations, ensuring that the launching tube 200 remains coaxial with the rigid shaft 510 throughout the entire movement until it is precisely assembled in the support hole 310 of the fixed platform 300.

[0047] As can be seen from the above examples, the self-aligning fixture of this application provides stable support through the base 100, the position adjustment component 400 realizes the precise two-dimensional movement of the rigid shaft 510, and the self-aligning shaft assembly 500 systematically realizes high-precision coaxial alignment between the launch tube 200 and the support hole 310 of the fixed platform 300 by utilizing the synergistic effect of the rigid shaft 510 and the radial support component 520.

[0048] Compared with the traditional method of relying on operator experience for segmented and item-by-item adjustments, the self-aligning fixture of this application has made a significant technical contribution. When installing the launch tube in a confined space, the traditional method is prone to jamming or scratching between the launch tube and the support hole due to the lack of a unified benchmark and systematic self-aligning means. It is also inefficient and difficult to guarantee installation quality and repeatability.

[0049] This application provides a unified self-aligning reference by introducing a self-aligning shaft assembly 500, particularly the combination of its rigid shaft 510 and multiple radial support assemblies 520. This transforms the launch tube installation and positioning process into a repeatable and verifiable standardized procedure, reducing reliance on the individual experience of specific operators and effectively ensuring the stability and repeatability of assembly quality. The position adjustment assembly 400 can precisely adjust the position of the rigid shaft 510 to achieve initial coaxiality with the support hole 310 of the fixed platform 300. Subsequently, the radial extension and retraction function of the radial support assembly 520, combined with its circumferentially uniform distribution, ensures that the launch tube 200 remains coaxial with the rigid shaft 510 along its entire length. This systematic self-aligning method overcomes the jamming and scratching problems caused by angular deviations in traditional methods.

[0050] Furthermore, the roller unit in the radial support assembly 520 converts sliding friction into rolling friction, significantly reducing the resistance of the launch tube 200 during movement, making the tube insertion process in narrow gaps smooth and efficient. This not only improves assembly efficiency but also effectively avoids damage to the inner wall of the launch tube 200.

[0051] In summary, the self-aligning fixture of this application provides a high-precision and high-efficiency solution, fundamentally improving the installation quality and reliability of underwater vehicle launch systems, and solving the technical problems of difficulty in pipe threading in confined spaces and lack of systematic self-aligning methods in the prior art.

[0052] In some embodiments, reference is made to the appendix. Figure 4 The position adjustment assembly 400 includes a horizontal adjustment unit 410 and a vertical adjustment unit 420; A horizontal adjustment unit 410 is mounted on the base 100 and is used to drive the rigid shaft 510 to move in the horizontal direction. The vertical adjustment unit 420 is connected between the horizontal adjustment unit 410 and the rigid shaft 510, and is used to drive the rigid shaft 510 to move in the vertical direction; The horizontal adjustment unit 410 and the vertical adjustment unit 420 work together to drive the rigid shaft 510 to move in two dimensions in a plane perpendicular to the axial direction of the rigid shaft 510.

[0053] The position adjustment assembly 400 is a key component for precisely adjusting the position of the self-aligning shaft assembly 500. It is divided into a horizontal adjustment unit 410 and a vertical adjustment unit 420, designed to achieve independent and precise control of the rigid shaft 510 in both horizontal and vertical orthogonal directions. This modular design simplifies adjustment operations, improves adjustment accuracy, and allows for the use of the most suitable drive mechanism for displacement requirements in different directions. For example, the horizontal adjustment unit 410 can employ a lead screw drive mechanism, a rack and pinion mechanism, or a hydraulic drive mechanism to achieve precise horizontal displacement; the vertical adjustment unit 420 can employ an electric actuator, a cylinder, or a scissor lift mechanism to achieve vertical lifting. As part of the position adjustment assembly 400, the horizontal adjustment unit 410's main function is to provide precise lateral movement of the rigid shaft 510 in the horizontal plane. By mounting it on the base 100, the stability of the base 100 can be used as support, ensuring smooth and accurate horizontal movement. The horizontal adjustment unit 410 can consist of a guide rail and a slider. The slider is driven manually or electrically to move along the guide rail, thereby causing the components above it to move horizontally. Another implementation method is to use a combination of a ball screw and a linear guide rail. A motor drives the ball screw to rotate, converting rotational motion into linear motion, achieving high-precision horizontal positioning. The vertical adjustment unit 420 is the key component for realizing the vertical displacement of the rigid shaft 510. Connected between the horizontal adjustment unit 410 and the rigid shaft 510, it allows vertical adjustment to be based on a predetermined horizontal position, thus avoiding mutual interference between horizontal and vertical adjustments and ensuring the independence and accuracy of two-dimensional adjustment. The vertical adjustment unit 420 can use an electric push rod or a hydraulic cylinder as the drive source, achieving vertical lifting and lowering through the movement of a telescopic rod. Alternatively, a worm gear mechanism with a guide column can be used, utilizing the self-locking characteristics of the worm gear to achieve precise vertical positioning and holding. The cooperation between the horizontal adjustment unit 410 and the vertical adjustment unit 420 is the core mechanism for achieving precise movement of the rigid shaft 510 in a two-dimensional plane. This coordination allows the rigid shaft 510 to be independently adjusted in both horizontal and vertical directions, enabling displacement in any direction within a plane perpendicular to its axis. This two-dimensional movement capability is crucial for precisely aligning the rigid shaft 510 with the support hole 310 in the fixed platform 300. For example, the actions of the horizontal adjustment unit 410 and the vertical adjustment unit 420 can be coordinated by a controller to achieve precise path movement in straight lines, curves, or point-to-point. Another coordination method involves first adjusting the rigid shaft 510 to the target horizontal position using the horizontal adjustment unit 410, and then adjusting it to the target vertical height using the vertical adjustment unit 420, thereby completing the positioning in the two-dimensional plane.

[0054] Based on the aforementioned self-aligning fixture, to achieve more precise and efficient two-dimensional movement control of the self-aligning shaft assembly 500, the position adjustment assembly 400 is designed to include a horizontal adjustment unit 410 and a vertical adjustment unit 420. The horizontal adjustment unit 410 is securely mounted on the base 100 and is responsible for providing precise horizontal displacement of the rigid shaft 510. As the foundation of the entire two-dimensional adjustment system, it ensures the stability and reliability of horizontal movement. The vertical adjustment unit 420 is cleverly connected between the horizontal adjustment unit 410 and the rigid shaft 510, and its function is to drive the rigid shaft 510 to move vertically. This connection method allows vertical adjustment to be directly established on the position determined by the horizontal adjustment unit 410, thereby avoiding mutual coupling and error accumulation between horizontal and vertical adjustments. Through this split design, the horizontal adjustment unit 410 and the vertical adjustment unit 420 can independently control the horizontal and vertical displacement of the rigid shaft 510. When the position of the rigid shaft 510 needs to be adjusted, the operator can first use the horizontal adjustment unit 410 to precisely move it to the target horizontal coordinate, and then use the vertical adjustment unit 420 to raise or lower it to the target vertical height. This independent and coordinated adjustment mechanism allows the rigid shaft 510 to achieve high-precision two-dimensional movement in a plane perpendicular to its axis. This precise two-dimensional movement capability allows the self-aligning shaft assembly 500 to overcome the operational limitations caused by confined spaces, more accurately aligning the rigid shaft 510 with the support hole 310 in the fixed platform 300, thus laying the foundation for the subsequent precise installation of the launch tube 200. This structural optimization significantly improves the flexibility, efficiency, and final coaxiality accuracy of the self-aligning process, overcomes the difficulties and poor stability of manual fine-tuning, and reduces the labor intensity of the operator.

[0055] Through the above technical solution, the position adjustment component 400 is subdivided into a horizontal adjustment unit 410 and a vertical adjustment unit 420, realizing independent and precise two-dimensional movement control of the rigid shaft 510 in the horizontal and vertical directions. The horizontal adjustment unit 410 is located on the base 100, providing a stable foundation and support for horizontal movement and ensuring the accuracy of horizontal displacement. The vertical adjustment unit 420 is connected between the horizontal adjustment unit 410 and the rigid shaft 510, enabling vertical movement based on a determined horizontal position, effectively avoiding mutual interference between horizontal and vertical adjustments, thereby enhancing the overall control accuracy of the two-dimensional plane. This split-type, collaborative adjustment mechanism significantly improves the flexibility and efficiency of the self-aligning fixture in high-precision self-aligning within a confined space, solving the problems of insufficient movement accuracy and inconvenient operation in traditional solutions. Ultimately, this helps ensure high coaxiality between the launch tube 200 and the support hole 310 in the fixed platform 300, thereby improving the installation quality and reliability of the underwater vehicle launch system and effectively preventing abnormal contact or interference collisions between the vehicle and the tube wall during the launch process.

[0056] In some embodiments, reference is made to the appendix. Figure 4 The horizontal adjustment unit 410 includes a double-groove slide rail 411, a translation slider support 412, and a hand-cranked screw 413; The double-groove slide rail 411 is fixedly mounted on the base 100, and the translation slider support 412 is slidably connected to the double-groove slide rail 411. The hand crank screw 413 is connected to the translation slider support 412 and is used to drive the translation slider support 412 to move horizontally along the double groove slide rail 411 by rotation; The vertical adjustment unit 420 includes a lifting and fixing platform 421 and a lifting electric cylinder 422; The lifting electric cylinder 422 is installed on the translation slider support 412, and its output end is connected to the lifting fixed platform 421, which is used to drive the lifting fixed platform 421 to move vertically relative to the translation slider support 412.

[0057] Specifically, the double-groove slide rail 411 is a linear guide mechanism, typically composed of two parallel guide rails, used to provide a precise linear motion path for moving parts. Its concept lies in restricting the degrees of freedom of the moving parts, ensuring they can only move smoothly in a preset direction. In practical applications, the double-groove slide rail 411 can take various forms; for example, it can be a precision linear guide rail with balls or rollers, or a sliding guide rail with dovetail or V-groove fits. Its core function is to provide a stable horizontal movement base for the horizontal adjustment unit 410. The translation slider support 412 is a movable component mounted on the double-groove slide rail 411, used to support the vertical adjustment unit 420 and the self-aligning shaft assembly 500. Its concept is to act as an intermediate connector, linking the upper structure with the lower horizontal movement mechanism, and moving horizontally along with the double-groove slide rail 411. The translation slider support 412 can be designed as a single unit or composed of multiple sliders and connecting plates. It is typically made of high-strength, high-rigidity metal to ensure stability and load-bearing capacity during movement. The hand-cranked screw 413 is a mechanical device that achieves precise linear displacement by rotating a screw. Its concept lies in using threaded transmission to convert rotational motion into linear motion, and achieving fine position adjustment through manual operation. The hand-cranked screw 413 typically consists of a screw, a nut, and a handwheel. The screw engages with a threaded hole on the translation slider support 412, and rotating the handwheel drives the translation slider support 412 to move along the double-groove slide rail 411. In addition to the traditional hand-cranked screw, a precision screw with a dial or fine-tuning mechanism can also be used to further improve adjustment accuracy. The lifting and fixing platform 421 is the output end of the vertical adjustment unit 420, used to support the self-aligning shaft assembly 500 and perform vertical lifting and lowering movements with the lifting electric cylinder 422. Its concept is to provide a stable mounting surface to ensure that the self-aligning shaft assembly 500 maintains its posture during vertical adjustment. The lifting and fixing platform 421 can be designed with guide columns or guide grooves to ensure its stability and verticality during lifting. The lifting electric cylinder 422 is an actuator that converts electrical energy into linear reciprocating motion. Its concept lies in achieving precise and controllable vertical displacement by driving a screw or gear mechanism with a motor. The lifting electric cylinder 422 typically includes a motor, a reduction mechanism, a screw (or rack and pinion), and a guide mechanism, with its output end connected to the lifting and fixing platform 421. Besides the common electric actuator form, the lifting electric cylinder 422 can also be a precision electric cylinder driven by a stepper motor or servo motor to meet higher positioning accuracy and response speed requirements.

[0058] The solution of this application achieves precise two-dimensional movement of the rigid shaft 510 in a plane perpendicular to its axis by structurally designing the horizontal adjustment unit 410 and the vertical adjustment unit 420. The horizontal adjustment unit 410 provides stable horizontal guidance for the translation slider support 412 through the double-groove slide rail 411, ensuring that the translation slider support 412 moves linearly in the horizontal direction on the base 100. The hand crank screw 413 is connected to the translation slider support 412, and the operator can drive the translation slider support 412 to make precise horizontal displacement on the double-groove slide rail 411 by rotating the hand crank screw 413. This manual screw drive method avoids the instability that may be caused by using complex electric mechanisms in a confined space and provides intuitive and high-precision manual control. On this basis, the lifting electric cylinder 422 of the vertical adjustment unit 420 is installed on the translation slider support 412, and its output end is connected to the lifting and fixing platform 421. When the lifting cylinder 422 operates, it drives the lifting fixed platform 421 to move vertically up and down relative to the translation slider support 412. Since the lifting cylinder 422 is electrically driven, it allows for rapid, smooth, and programmable vertical position adjustment. Simultaneously, the guide structure of the lifting fixed platform 421 ensures the stability of vertical movement. Through this structure, the horizontal adjustment unit 410 and the vertical adjustment unit 420 cooperate to act on the self-aligning shaft assembly 500. The translation slider support 412 supports the entire vertical adjustment unit 420, enabling it to move horizontally, while the lifting fixed platform 421 directly supports the self-aligning shaft assembly 500 (via the self-aligning shaft saddle 530), enabling it to move vertically. This layered and coordinated adjustment mechanism allows the rigid shaft 510 to perform independent and precise horizontal and vertical two-dimensional movement within a plane perpendicular to its axis. This precise mechanical implementation significantly improves the accuracy and stability of the position adjustment component 400 in adjusting the position of the rigid shaft 510, effectively avoiding deviations caused by unclear adjustment mechanisms or unstable operation in traditional solutions, thus laying a solid foundation for the subsequent coaxial alignment of the launch tube 200 and the fixed platform 300.

[0059] Through the above technical solution, this application provides a specific and efficient position adjustment mechanism, significantly solving the problems of insufficient adjustment accuracy, poor operational stability, and easy position deviation in traditional solutions. The horizontal adjustment unit 410 adopts a combination of double-groove slide rail 411 and translation slider support 412, providing a solid guiding foundation for horizontal movement. Combined with the fine manual adjustment of the hand-cranked screw 413, the horizontal position of the rigid shaft 510 can be precisely and stably controlled. At the same time, the vertical adjustment unit 420 drives the lifting fixed platform 421 to move vertically through the lifting electric cylinder 422, realizing electric rapid and precise lifting, effectively avoiding the errors and inconveniences that may be caused by manual vertical adjustment. This combination of horizontal manual fine adjustment and vertical electric rapid adjustment not only improves the accuracy and efficiency of position adjustment component 400 in a confined space, but also enhances the stability and repeatability of operation, thereby ensuring that the self-aligning shaft component 500 can be accurately coaxial with the support hole 310 in the fixed platform 300, ultimately greatly improving the coaxiality accuracy of the launch tube 200 installation and the overall assembly quality.

[0060] In some embodiments, reference is made to the appendix. Figure 1 Appendix Figure 2 and attached Figure 3 Each support group consists of 4 radial support components 520.

[0061] This scheme provides four-point support to the inner wall of the launch tube 200 during self-alignment by configuring four radial support components 520 in each support group and distributing them evenly along the circumference of the rigid shaft 510. This four-point support structure ensures that the rigid shaft 510 obtains more stable and balanced support force during radial movement and positioning. When the radial support components 520 extend synchronously and abut against the inner wall of the launch tube 200, the support forces in the four directions can be balanced, effectively avoiding force concentration or unevenness caused by insufficient support points, thereby significantly reducing the possibility of the rigid shaft 510 tilting or wobbling within the launch tube 200. Given that the self-aligning shaft assembly 500 of the aforementioned self-aligning fixture is mounted on two position adjustment components 400, and the position adjustment components 400 are used to drive the rigid shaft 510 to move in a plane perpendicular to the axial direction of the rigid shaft 510, while the radial support components 520 are used to extend and retract radially relative to the rigid shaft 510 to abut against the inner wall of the launch tube 200. Based on this, each support group consists of four radial support components 520, which allows the rigid shaft 510, after being adjusted by the position adjustment component 400 to be coaxial with the support hole 310 of the fixed platform 300, to provide more stable and uniform radial support to the launching tube 200 through the radial support components 520. This stable four-point support ensures that the coaxial reference between the rigid shaft 510 and the launching tube 200 is accurately maintained during subsequent movement and assembly of the launching tube 200, thereby effectively reducing accumulated errors and lowering the risk of jamming or scratching when the launching tube 200 passes through the support hole 310 in narrow gaps.

[0062] In some embodiments, reference is made to the appendix. Figure 5 The radial support assembly 520 includes a telescopic drive unit and a roller unit; The telescopic drive unit is fixedly mounted on the rigid shaft 510 and is used to output displacement along the radial direction of the rigid shaft; The roller unit is rotatably connected to the output end of the telescopic drive unit and is used to abut against the inner wall of the launch tube 200 under the drive of the telescopic drive unit, and to convert the sliding friction between the rigid shaft 510 and the launch tube 200 into rolling friction.

[0063] Specifically, the telescopic drive unit provides radial displacement along the rigid shaft 510, enabling the roller unit to precisely contact or disengage from the inner wall of the launch tube 200. This unit can be implemented using various drive methods; for example, it can be a miniature hydraulic or pneumatic cylinder that controls fluid pressure to drive the piston rod to extend or retract; alternatively, it can be an electric lead screw mechanism that converts rotational motion into linear telescopic motion by driving the lead screw to rotate; or it can be a sliding mechanism driven by spring preload or external mechanical force, with a guide structure ensuring precise radial movement. The roller unit is the component in direct contact with the inner wall of the launch tube 200, and its core function is to convert sliding friction into rolling friction. This unit can be one or more rollers with precision bearings, whose outer surface is typically made of wear-resistant materials (such as polyurethane, nylon, or special rubber) to reduce damage to the inner wall of the launch tube 200; or it can be multiple spherical balls that provide multi-directional rolling support through spherical contact surfaces. The roller unit is installed at the output end of the telescopic drive unit via a rotatable connection, ensuring that it can rotate freely when it comes into contact with the inner wall under the drive of the telescopic drive unit.

[0064] The solution in this application designs the radial support assembly 520 to include a telescopic drive unit and a roller unit, enabling the self-aligning shaft assembly 500 to support the launch tube 200 in a rolling contact manner when passing through the launch tube 200 and the fixed platform 300 and performing self-alignment. The telescopic drive unit is responsible for providing precise radial displacement, ensuring that the roller unit can stably and controllably abut against the inner wall of the launch tube 200, forming a low-friction, guideable transmission channel to achieve radial support and positioning of the launch tube 200. The roller unit, utilizing its rotatable characteristic, converts the sliding friction that might otherwise occur into rolling friction when in contact with the inner wall of the launch tube 200. This conversion of friction significantly reduces the frictional resistance between the launch tube 200 and the self-aligning shaft assembly 500 during self-alignment and movement, thereby avoiding wear and scratches on the inner wall of the launch tube 200 and ensuring the smoothness of the tube-passing process. Given that there is usually a narrow gap between the launch tube 200 and the support hole 310 of the fixed platform 300, this low-friction, damage-free support method is crucial for achieving high-precision, jam-free installation, effectively improving the reliability and operational efficiency of the entire self-aligning fixture.

[0065] Through the above technical solution, the radial support assembly 520 can effectively convert traditional sliding friction into rolling friction when it abuts against the inner wall of the launch tube 200. This change in friction significantly reduces the risk of wear and scratches on the inner wall of the launch tube 200 during self-alignment and installation, especially when the gap between the launch tube 200 and the support hole 310 of the fixed platform 300 is narrow. It avoids jamming caused by excessive friction, thus ensuring the smooth insertion and precise positioning of the launch tube 200. At the same time, the introduction of rolling friction also greatly reduces the driving force required for operation, improves the operating efficiency and accuracy of the self-aligning fixture, and ensures the high quality and reliability of the underwater vehicle launch system assembly.

[0066] In some embodiments, reference is made to the appendix. Figure 5 The telescopic drive unit includes a roller mounting bracket guide 521, and the roller unit includes a roller mounting bracket 522 and a roller 523; The roller mounting bracket guide tube 521 is fixedly mounted on the rigid shaft 510; The roller mounting bracket 522 is slidably inserted into the roller mounting bracket guide tube 521, and the roller 523 is rotatably mounted on the end of the roller mounting bracket 522; The roller mounting bracket 522 cooperates with the roller mounting bracket guide 521 to restrict the roller 523 to move only radially along the rigid shaft 510.

[0067] The roller mounting bracket conduit 521 is part of the telescopic drive unit. Its main function is to provide a precise guide channel for the roller mounting bracket 522, ensuring that the roller 523 can move along a predetermined radial path during telescopic movement. This conduit can take various structural forms; for example, it can be a hollow cylindrical or square sleeve with its inner wall precision-machined to ensure accurate sliding fit with the roller mounting bracket 522. Furthermore, the conduit material can be a high-strength, wear-resistant metal or engineering plastic to meet long-term use and high load requirements. The roller mounting bracket 522 is the main structure of the roller unit, supporting the roller 523 and slidingly fitting with the roller mounting bracket conduit 521. The roller mounting bracket 522 can be designed as a slider structure that matches the shape of the conduit's inner cavity; for example, it can be a slider with guide grooves or a plunger that fits tightly against the inner wall of the conduit. Its material is typically a lightweight, high-strength alloy to reduce inertia and improve response speed. Roller 523 is the component that directly contacts the inner wall of the firing tube 200. Its main function is to convert sliding friction into rolling friction, thereby reducing frictional resistance. Roller 523 can be a cylindrical or conical roller, and its surface can be hardened or coated with wear-resistant materials, such as polyurethane or rubber, to protect the inner wall of the firing tube 200 and provide good grip. Roller 523 is rotatably mounted on the end of roller mounting bracket 522 via bearings or other means, ensuring its free rotation.

[0068] The fixed connection between the roller mounting bracket guide 521 and the rigid shaft 510 is fundamental to the stability of the entire radial support assembly 520. This fixing can be achieved through various mechanical connection methods such as welding, bolting, interference fit, or keying. For example, mounting holes or countersunk grooves can be pre-drilled in the rigid shaft 510, and the roller mounting bracket guide 521 can be fixed to these positions with bolts or pins. Alternatively, the roller mounting bracket guide 521 can be integrally formed onto the surface of the rigid shaft 510, or a tight fit can be achieved through processes such as thermal expansion and contraction. The sliding insertion of the roller mounting bracket 522 within the roller mounting bracket guide 521 is crucial for achieving radial expansion and contraction. For example, radial expansion and contraction can be achieved by driving the roller mounting bracket guide 521 to slide on the roller mounting bracket 522 using pneumatic, hydraulic, or electric motors. This sliding fit requires a certain clearance and precision to ensure smooth movement and accurate guidance. The sliding surface can undergo surface treatments such as chrome plating, anodizing, or coating with a friction-reducing coating to reduce the coefficient of friction and improve wear resistance. Furthermore, linear bearings, sliding bearings, or guide sliders can be installed inside the roller mounting bracket 522 or the roller mounting bracket guide tube 521 to further optimize sliding performance and accuracy. The rotatable connection between the roller 523 and the roller mounting bracket 522 ensures that the roller 523 can rotate freely when in contact with the inner wall of the launch tube 200. This rotatable mounting is usually achieved through bearings, such as ball bearings, needle bearings, or sliding bearings. The choice of bearing depends on the required load capacity, speed, and accuracy requirements. The axis of the roller 523 should be perpendicular to the radial extension direction of the rigid shaft 510 to ensure that it can effectively convert friction during rolling. The cooperation between the roller mounting bracket 522 and the roller mounting bracket guide tube 521 is the core mechanism for achieving precise radial extension. This cooperation, through the design of mechanical structures, such as guide rails and sliders, sleeves and pistons, forces the roller mounting bracket 522 to move linearly only along the radial direction of the rigid shaft 510, and prevents deflection, tilting, or circumferential movement. For example, the inner wall of the conduit can be designed as a guide surface that precisely matches the shape of the roller mounting bracket 522, or multiple guide pins can be set inside the conduit to cooperate with the guide grooves on the roller mounting bracket 522, thereby providing multi-point support and guidance to ensure unidirectional movement and stability.

[0069] This design establishes a precise linear guiding mechanism through the tight fit between the roller mounting bracket 522 and the roller mounting bracket guide tube 521. When the telescopic drive unit drives the roller mounting bracket 522 to extend or retract, the inner wall of the roller mounting bracket guide tube 521 constrains the outer wall of the roller mounting bracket 522, forcing the roller mounting bracket 522 to move linearly only along the radial direction of the rigid shaft 510. This design effectively eliminates any possible offset, tilting, or jamming of the roller 523 during extension or retraction, ensuring that the roller 523 always contacts the inner wall of the launch tube 200 in the correct posture. Simultaneously, the rotating installation of the roller 523 further converts contact friction into rolling friction, significantly reducing frictional resistance. Through this technical solution, during the extension and retraction of the radial support component 520 of the self-aligning shaft assembly 500 to contact the inner wall of the launch tube 200, the cooperation between the roller mounting bracket guide tube 521 and the roller mounting bracket 522 ensures the accuracy and stability of the radial extension and retraction movement of the roller 523. This enables the radial support assembly 520 to support and align the launch tube 200 more accurately and reliably, thereby improving the overall aligning accuracy and installation efficiency of the aligning fixture. Compared with solutions that rely solely on the displacement output of the telescopic drive unit, this solution, by adding a guide structure, fundamentally solves the problem of uncertain direction and easy deviation of the roller unit during telescopic movement, providing a solid mechanical foundation for achieving high-precision aligning.

[0070] In some embodiments, reference is made to the appendix. Figure 1 Appendix Figure 2 and attached Figure 3 The base 100 is also provided with a platform saddle 110, which has a support surface that is adapted to the shape of the fixed platform 300 and is used to support the fixed platform 300.

[0071] The platform saddle 110 is a structural component used to support and position the fixed platform 300. The platform saddle 110 can be a standalone component, rigidly fixed to the base 100 via bolts, welding, or riveting, or it can be formed into a protrusion or groove structure on the base 100 body through integral molding, casting, or machining. Its main function is to provide a stable placement area for the fixed platform 300. The support surface refers to the surface of the platform saddle 110 that contacts the fixed platform 300. This support surface can be customized according to the specific shape of the fixed platform 300. For example, if the bottom of the fixed platform 300 is flat, the support surface can be flat; if the bottom of the fixed platform 300 is cylindrical or has a specific curvature, the support surface can be designed as a corresponding V-groove, U-groove, or arc surface. This adaptable design aims to maximize the contact area, reduce gaps, and provide stable support. Supporting the fixed platform 300 means that the platform saddle 110 can bear the weight of the fixed platform 300 and prevent unnecessary movement, tilting, or vibration during the operation of the self-aligning fixture. This support ensures the positional stability of the fixed platform 300 throughout the entire self-alignment process, which is the foundation for achieving high-precision self-alignment.

[0072] In some embodiments, reference is made to the appendix. Figure 1 Appendix Figure 2 and attached Figure 3 The base 100 is also provided with a launch tube saddle 120, which has a support surface that is adapted to the shape of the launch tube 200 and is used to support the launch tube 200.

[0073] The launch tube saddle 120 is a structural component specifically designed to support and secure the launch tube 200. The launch tube saddle 120 can be integrally formed with the base 100, for example, by casting or welding, to provide higher overall rigidity and stability; alternatively, it can be a separate component, securely fixed to a predetermined position on the base 100 by bolts, rivets, or welding, thus facilitating manufacturing and installation. The support surface of the launch tube saddle 120 is the surface that directly contacts the launch tube 200. This support surface is designed to precisely match the shape of the launch tube 200. For example, for a circular launch tube 200, the support surface can be a V-groove, U-groove, or arc-shaped groove to provide multi-point contact and good covering support; for a non-circular launch tube 200, the support surface can be designed as an irregularly shaped groove or plane that matches the outer contour of the launch tube 200. Furthermore, to reduce friction and protect the surface of the launch tube 200, the support surface can be covered with a wear-resistant material with certain cushioning properties, such as polymer materials, rubber, or soft metals. The main function of the launch tube saddle 120 is to bear the weight of the launch tube 200 and fix it stably in a preset position. This can be achieved by the launch tube 200 falling naturally into and firmly embedding itself into the support surface of the saddle under its own weight; or by using an additional clamping mechanism or limiting device to further enhance the fixing effect on the launch tube 200 and prevent it from sliding or displacing under external disturbances.

[0074] In some embodiments, reference is made to the appendix. Figure 3 The self-aligning shaft assembly 500 also includes a self-aligning shaft saddle 530. The rigid shaft 510 is fixedly mounted on the lifting and fixing platform 421 via the self-aligning shaft saddle 530 so as to follow the lifting and fixing platform 421 for position adjustment.

[0075] The self-aligning shaft saddle 530 is a specially designed support structure, typically featuring grooves or curved surfaces that match the shape of the rigid shaft 510, designed to provide stable support and fixation. This saddle can be integrally cast or machined, for example, designed with U-shaped or V-shaped grooves to increase the contact area with the rigid shaft 510 and distribute force evenly; it can also be a split structure, with a clamping mechanism securely holding the rigid shaft 510. Fixed installation refers to a connection state where the rigid shaft 510 and the self-aligning shaft saddle 530, as well as the self-aligning shaft saddle 530 and the lifting and fixing platform 421, form a state where relative movement is impossible. This connection can be achieved using various technical means, such as bolts, pins, welding, snap-fitting, or clamping. Specifically, the self-aligning shaft saddle 530 can be pre-fixed to the lifting and fixing platform 421 using bolts or other fasteners. Then, the rigid shaft 510 is placed on the saddle's support surface and secured using pressure plates and bolts. Alternatively, the self-aligning shaft saddle 530 can be integrated with the lifting and fixing platform 421, with the rigid shaft 510 directly fixed by a clamping device integrated into the saddle. This allows the rigid shaft 510 to adjust its position in sync with the lifting and fixing platform 421, meaning that after being fixed by the self-aligning shaft saddle 530, all its positional changes are synchronized with the movement of the lifting and fixing platform 421. Since the lifting and fixing platform 421 is a key component of the vertical adjustment unit 420 and can be driven by the lifting cylinder 422 for precise vertical lifting, the rigid shaft 510 can stably and accurately follow the lifting and fixing platform 421 to complete vertical position adjustments.

[0076] When the saddles (including platform saddle 110, launch tube saddle 120 and self-aligning shaft saddle 530) of the above embodiments are designed as quick-change installation forms, they can be quickly applied to different types of underwater platforms as well as fixed platforms, launch tubes and rigid shafts of different diameters and specifications, greatly improving the applicability and economy of the tooling, and avoiding the repeated research and development and manufacturing costs of "one type, one tool".

[0077] Reference Appendix Figure 6 The present invention provides a self-aligning control method for a self-aligning fixture for mounting a transmitter tube based on the above embodiments. The self-aligning control method includes the following steps: S1. Place the launch tube and the fixed platform on the base, and after passing the rigid shaft through the launch tube and the fixed platform, control the position adjustment component to drive the rigid shaft to move to be coaxial with the support hole in the fixed platform; S2. Control the telescopic drive units of all radial support components in the same support group to extend synchronously, so that the roller units of all radial support components in the same support group move closer to the inner wall of the launch tube. S3. Monitor the contact force feedback value of all radial support components in the same support group in real time, and calculate the load difference between the contact force feedback value and the preset contact force reference value. S4. When the load difference exceeds the preset balance threshold range, the extension amount of the telescopic drive unit of the radial support component in the same support group is dynamically adjusted according to the load difference until the load difference is within the balance threshold range. S5. When the load difference is within the balance threshold range, control the telescopic drive unit of the radial support component in the same support group to lock the current position and establish the coaxial reference between the rigid shaft and the launch tube; S6. Drive the launch tube to move closer to the fixed platform, and during the movement, control all radial support components that the launch tube passes through to perform steps S2-S5 until the launch tube is assembled in the support hole in the fixed platform.

[0078] In the above-described self-aligning control method, step S1 aims to establish an initial alignment reference. This involves placing the transmitter 200 and the fixed platform 300 on the base 100, which can be done manually or with automated handling equipment to ensure stable positioning on the tooling. The rigid shaft 510, passing through the transmitter 200 and the fixed platform 300, provides a reference axis for subsequent self-aligning operations. The position adjustment assembly 400 drives the rigid shaft 510 to move coaxially with the support hole 310 in the fixed platform 300. This can be achieved in various ways, such as using precision measuring tools like laser alignment instruments, optical collimators, or mechanical dial indicators to monitor the eccentricity and tilt angle between the rigid shaft 510 and the support hole 310 in real time. The position adjustment assembly 400 (e.g., a precision lead screw mechanism driven by a servo motor or a hydraulic / pneumatic actuator) then iteratively adjusts the shaft until the axes coincide or are within acceptable tolerances.

[0079] Step S2 is used to establish uniform contact between the radial support assembly 520 and the inner wall of the launching tube 200. The telescopic drive units of all radial support assemblies 520 in the same support group extend synchronously. A centralized or distributed control system can be used to ensure that each telescopic drive unit moves synchronously at a preset speed or stroke. The telescopic drive unit can be a miniature electric linear actuator, a pneumatic cylinder, or a hydraulic cylinder, with its output end connected to a roller unit. The purpose of synchronous extension is to ensure that the roller unit moves evenly towards the inner wall of the launching tube 200, avoiding uneven force on the launching tube 200 or initial deflection due to premature or delayed local contact.

[0080] Step S3 is a crucial step in achieving dynamic alignment. Real-time monitoring of the contact force feedback values ​​of all radial support components 520 within the same support group can be achieved by integrating miniature force sensors (such as piezoelectric sensors or strain gauge sensors) into the roller unit or telescopic drive unit of each radial support component 520. These sensors convert the radial force acting on the roller unit into electrical signals and transmit them to the control system in real time. Upon receiving these feedback values, the control system compares them with a preset contact force reference value to calculate the load difference between each radial support component 520. The preset contact force reference value is typically a small force value sufficient to ensure stable contact without damaging the inner wall of the launch tube 200.

[0081] Step S4 involves proactive adjustment based on the monitoring results. When the calculated load difference exceeds the preset balance threshold range, it indicates that there is eccentricity or tilt between the transmitter tube 200 and the rigid shaft 510. At this time, the control system dynamically adjusts the extension amount of the telescopic drive unit of the corresponding radial support component 520 according to the magnitude and direction of the load difference. For example, for radial support components 520 with excessive contact force, their telescopic drive unit may retract slightly; for radial support components 520 with insufficient contact force, their telescopic drive unit will extend further. This adjustment process is a closed-loop control, continuing until the load difference of all radial support components 520 is within the balance threshold range, thereby ensuring high-precision coaxial alignment between the transmitter tube 200 and the rigid shaft 510.

[0082] Step S5 is used to solidify the self-aligning result. When the load difference reaches the balance threshold range, it indicates that the rigid shaft 510 and the launch tube 200 have achieved high-precision coaxiality. At this time, the control system instructs the telescopic drive units of all radial support components 520 to lock their current positions. The locking mechanism can be the self-locking function of the electric actuator, the pressure holding function of the pneumatic / hydraulic cylinder, or an additional mechanical locking device. Through locking, the coaxial reference between the rigid shaft 510 and the launch tube 200 is established and remains stable, providing precise guidance for subsequent movement of the launch tube 200.

[0083] Step S6 is the final step in assembling the launch tube 200. Moving the launch tube 200 closer to the fixed platform 300 can be accomplished by an external conveying mechanism (such as a gantry, guide trolley, or robot). During the movement of the launch tube 200, all radial support components 520 it passes through will sequentially execute steps S2-S5. This means that as the launch tube 200 advances, new support groups will be activated and undergo contact force monitoring and dynamic adjustment, while support groups that have already passed will be unlocked or maintain their adjusted state, ensuring that the launch tube 200 remains coaxial with the rigid shaft 510 throughout the entire tube-passing path until it is fully assembled within the support hole 310 in the fixed platform 300.

[0084] The self-aligning control method of this application works in conjunction with the self-aligning fixture described above for mounting the launch tube to achieve high-precision coaxial installation between the launch tube 200 and the fixed platform 300. Two position adjustment components 400 are provided on the base 100 of the self-aligning fixture to drive the self-aligning shaft assembly 500 to move in a plane perpendicular to the axial direction of the rigid shaft 510, thereby achieving initial coaxiality between the rigid shaft 510 and the support hole 310 in step S1. Multiple radial support components 520 on the self-aligning shaft assembly 500, each support group consisting of at least three radial support components 520, are evenly distributed circumferentially along the rigid shaft 510. These radial support components 520 can extend and retract radially relative to the rigid shaft 510 and abut against the inner wall of the launch tube 200. This structure provides the hardware basis for dynamic self-aligning in steps S2-S5. In particular, the radial support assembly 520 includes a telescopic drive unit and a roller unit. The roller unit is rotatably connected to the output end of the telescopic drive unit and can abut against the inner wall of the launching tube 200 under drive, converting sliding friction into rolling friction. This greatly reduces the frictional resistance during tube insertion and effectively avoids jamming and scratches. By combining this method with the tooling, high-precision, low-friction, and dynamically adaptive self-aligning installation of the launching tube 200 within a narrow gap is achieved.

[0085] In one specific implementation, the underwater vehicle platform (i.e., fixed platform 300) and launch tube 200 are first placed on platform saddle 110 and launch tube saddle 120 on base 100. The self-aligning shaft assembly 500 (including a rigid shaft 510) passes through support holes 310 in the launch tube 200 and fixed platform 300, and is fixed to the lifting fixed platform 421 of position adjustment assembly 400 via self-aligning shaft saddle 530. The operator adjusts the horizontal and vertical directions of the rigid shaft 510 by controlling the lifting electric cylinder 422 and hand crank 413 in position adjustment assembly 400, making the rigid shaft 510 coaxial with the support hole 310 at the front end of fixed platform 300 as a reference. Then, the self-aligning operation is repeated, using the support hole 310 at the end of fixed platform 300 as a reference. Based on the principle that "two points determine a straight line", the precise position of the rigid shaft 510 can be determined, and the alignment of the rigid shaft 510 with the support hole 310 of the fixed platform 300 can be completed.

[0086] Next, the control system instructs the telescopic drive units (e.g., miniature electric linear actuators) of all radial support components 520 in the same support group to extend synchronously, causing the roller units (including rollers 523) to approach the inner wall of the launch tube 200. During the extension process, force sensors integrated on the roller units monitor the contact force feedback values ​​in real time. The control system compares these feedback values ​​with preset contact force reference values ​​and calculates the load difference. If the load difference exceeds a preset balance threshold range, the control system dynamically adjusts the extension amount of each telescopic drive unit according to the difference until the load difference is within the balance threshold range, ensuring that the contact force between the rollers 523 and the inner wall of the launch tube 200 is evenly distributed. Once balance is achieved, the telescopic drive units lock their current positions, establishing a coaxial reference between the rigid shaft 510 and the launch tube 200.

[0087] Finally, the launch tube 200 is moved closer to the fixed platform 300. During the movement, the control system continuously monitors each support group that the launch tube 200 passes through. When the launch tube 200 moves to a new support group, the radial support component 520 of that support group repeats the contact, monitoring, adjustment, and locking steps described above to ensure that the launch tube 200 remains coaxial with the rigid shaft 510 throughout the entire tube-passing process. For example, when the launch tube 200 moves to the next support group, the radial support component 520 of that support group is activated, the roller 523 extends synchronously, monitors the contact force, and dynamically adjusts according to the load difference until it locks. Through this segmented, dynamic self-aligning control, the launch tube 200 can smoothly pass through the narrow support hole 310 until it is fully assembled in the fixed platform 300 and secured to the platform.

[0088] Through the above technical solution, the self-aligning control method of this application can effectively solve the problems of jamming, scratching, low efficiency, and insufficient precision of manual adjustment caused by narrow gaps during the traditional launch tube installation process. This method achieves high-precision coaxial alignment between the launch tube 200 and the rigid shaft 510 by real-time monitoring of the contact force feedback value and dynamic adjustment, ensuring continuous coaxiality throughout the tube insertion process. Combined with the aforementioned self-aligning tooling, especially the roller unit design in the radial support assembly 520, sliding friction is converted into rolling friction, significantly reducing tube insertion resistance and avoiding damage to the inner wall of the launch tube 200. This not only improves assembly efficiency and precision but also fundamentally enhances the installation quality and reliability of the underwater vehicle launch system, effectively preventing launch tube exit failures caused by coaxiality errors.

[0089] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0090] The use of terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refers to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0091] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A self-aligning fixture for mounting a transmitting tube, characterized in that, include: A base (100) for placing a launch tube (200) and a fixed platform (300), wherein the launch tube (200) can be fitted into a support hole (310) in the fixed platform (300); Two position adjustment components (400) are disposed on the base (100) and located on both sides of the fixed platform (300) along the axial direction; A self-aligning shaft assembly (500) is mounted on two position adjustment assemblies (400) and is used to pass through both the launch tube (200) and the fixed platform (300). The self-aligning shaft assembly (500) includes a rigid shaft (510) and a plurality of radial support assemblies (520) distributed on the rigid shaft (510). The plurality of radial support assemblies (520) are divided into a plurality of support groups, and each support group consists of at least three radial support assemblies (520). 0) The plurality of support groups are spaced apart along the axial direction of the rigid shaft (510), and all the radial support components (520) in the same support group are evenly distributed circumferentially along the rigid shaft (510); the position adjustment component (400) is used to drive the rigid shaft (510) to move in a plane perpendicular to the axial direction of the rigid shaft (510); the radial support component (520) is used to extend and retract radially relative to the rigid shaft (510) to abut against the inner wall of the launching tube (200).

2. The self-aligning fixture for mounting a transmitting tube according to claim 1, characterized in that, The position adjustment assembly (400) includes a horizontal adjustment unit (410) and a vertical adjustment unit (420). The horizontal adjustment unit (410) is disposed on the base (100) and is used to drive the rigid shaft (510) to move in the horizontal direction; The vertical adjustment unit (420) is connected between the horizontal adjustment unit (410) and the rigid shaft (510) and is used to drive the rigid shaft (510) to move in the vertical direction; The horizontal adjustment unit (410) cooperates with the vertical adjustment unit (420) to drive the rigid shaft (510) to move in two dimensions in a plane perpendicular to the axial direction of the rigid shaft (510).

3. The self-aligning fixture for mounting a transmitting tube according to claim 2, characterized in that, The horizontal adjustment unit (410) includes a double-groove slide rail (411), a translation slider support (412), and a hand-cranked screw (413). The double-groove slide rail (411) is fixedly mounted on the base (100), and the translation slider support (412) is slidably connected to the double-groove slide rail (411). The hand crank screw (413) is connected to the translation slider support (412) and is used to drive the translation slider support (412) to move horizontally along the double groove slide rail (411) by rotation; The vertical adjustment unit (420) includes a lifting and fixing platform (421) and a lifting electric cylinder (422). The lifting electric cylinder (422) is installed on the translation slider support (412), and its output end is connected to the lifting fixed platform (421) to drive the lifting fixed platform (421) to move vertically relative to the translation slider support (412).

4. The self-aligning fixture for mounting a transmitting tube according to claim 1, characterized in that, Each of the support groups consists of four radial support components (520).

5. The self-aligning fixture for mounting a transmitting tube according to claim 1, characterized in that, The radial support assembly (520) includes a telescopic drive unit and a roller unit; The telescopic drive unit is fixedly mounted on the rigid shaft (510) and is used to output displacement along the radial direction of the rigid shaft; The roller unit is rotatably connected to the output end of the telescopic drive unit and is used to abut against the inner wall of the transmitting tube (200) under the drive of the telescopic drive unit.

6. The self-aligning fixture for mounting a transmitting tube according to claim 5, characterized in that, The telescopic drive unit includes a roller mounting bracket guide (521), and the roller unit includes a roller mounting bracket (522) and a roller (523). The roller mounting bracket guide (521) is fixedly mounted on the rigid shaft (510); The roller mounting bracket (522) is slidably inserted into the roller mounting bracket guide tube (521), and the roller (523) is rotatably mounted on the end of the roller mounting bracket (522); The roller mounting bracket (522) cooperates with the roller mounting bracket guide (521) to restrict the roller (523) to telescopic movement only along the radial direction of the rigid shaft (510).

7. The self-aligning fixture for mounting a transmitting tube according to claim 1, characterized in that, The base (100) is also provided with a platform saddle (110), which has a support surface that is adapted to the shape of the fixed platform (300) and is used to support the fixed platform (300).

8. The self-aligning fixture for mounting a transmitting tube according to claim 1, characterized in that, The base (100) is also provided with a launch tube saddle (120), which has a support surface adapted to the shape of the launch tube (200) and is used to support the launch tube (200).

9. The self-aligning fixture for mounting a transmitting tube according to claim 3, characterized in that, The self-aligning shaft assembly (500) also includes a self-aligning shaft saddle (530), and the rigid shaft (510) is fixedly installed on the lifting and fixing platform (421) through the self-aligning shaft saddle (530) to adjust its position following the lifting and fixing platform (421).

10. A self-aligning control method based on the self-aligning fixture for mounting a transmitting tube as described in any one of claims 1-9, characterized in that, The heart-adjusting control method includes the following steps: S1. Place the launching tube and the fixed platform on the base, and after the rigid shaft passes through the launching tube and the fixed platform, control the position adjustment component to drive the rigid shaft to move to be coaxial with the support hole in the fixed platform; S2. Control the telescopic drive units of all radial support components in the same support group to extend synchronously, so that the roller units of all radial support components in the same support group move closer to the inner wall of the launching tube; S3. Monitor the contact force feedback values ​​of all radial support components in the same support group in real time, and calculate the load difference between the contact force feedback value and the preset contact force reference value; S4. When the load difference exceeds the preset balance threshold range, the extension amount of the telescopic drive unit of the radial support component in the same support group is dynamically adjusted according to the load difference until the load difference is within the balance threshold range. S5. When the load difference is within the balance threshold range, control the telescopic drive unit of the radial support component in the same support group to lock the current position and establish the coaxial reference between the rigid shaft and the launch tube; S6. Drive the launching tube to move closer to the fixed platform, and during the movement, control all the radial support components that the launching tube passes through to perform steps S2-S5 until the launching tube is assembled into the support hole in the fixed platform.

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