Intelligent guided missile assembling vehicle

Abstract

The utility model provides an intelligent guided missile assembling vehicle, and belongs to the technical field of tool equipment. Comprising a vehicle body, a missile clamping device and a missile clamping device, two sets of bottom position correcting devices are arranged in the center of the bottom of the vehicle body and are vertically stacked, first sliding rails are fixedly installed on the two sides of a top table top of the vehicle body, and the two sets of first sliding rails are connected with the missile clamping device. A missile component is transported through the vehicle body and the working bridge, after the missile component is transported to a designated station, the missile clamping device is used for lifting the missile component, the missile clamping device can conveniently lift the missile component, meanwhile, after the missile component is lifted, the bottom position correcting device is used for correcting the position of the whole vehicle body, and the missile component can be conveniently conveyed to the designated station. And the X axis, the Y axis and the Z axis of the two guided missile composition parts are completely overlapped, then the two guided missile composition parts are spliced, and the problem that guided missiles cannot be rapidly spliced through existing assembling equipment is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of tooling equipment, in particular to an intelligent missile assembly vehicle. Background Art

[0002] Generally speaking, a missile consists of a warhead and a tail compartment. The warhead mainly serves as a carrier of ammunition, while the tail compartment mainly carries the control system and navigation system. Therefore, when manufacturing a missile, the tail compartment and the warhead are manufactured separately and then assembled.

[0003] To facilitate assembly, operators are required to lift the warhead during the assembly process. When the warhead is large, additional lifting equipment is required for assembly, which is inconvenient to operate. Moreover, the warhead and the tail compartment are manufactured or stored in different places, and need to be transported separately during assembly. At the same time, to facilitate assembly, the warhead and the tail compartment need to be calibrated separately during lifting so that their calibers overlap during assembly. However, it is impossible to effectively calibrate and lift the missile components on the transport vehicle with the help of external lifting equipment.

[0004] At the same time, after the warhead or tail is hoisted, in order to facilitate assembly, it is necessary to ensure that the spatial coordinate systems of the warhead and tail are completely overlapped. If only hoisting equipment is used, it cannot meet the assembly requirements.

[0005] Therefore, the present application provides an intelligent missile assembly vehicle to meet the needs. Utility Model Content

[0006] The technical problem to be solved by the utility model is to provide an intelligent missile assembly vehicle which transports missile components by using a vehicle body and a working bridge. After transporting the missile components to a designated work station, a missile clamping device is used to lift the missile components so that a missile clamping device can lift the components. At the same time, after lifting the missile components, a bottom positioning device is used to position the vehicle body as a whole so that the X, Y, and Z axes of the two groups of missile components are completely overlapped. Thereafter, the two groups of missile components are assembled to solve the problem that the existing assembly equipment cannot quickly assemble the missiles.

[0007] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0008] An intelligent missile assembly vehicle comprises a vehicle body, a missile clamping device and a bullet clamping device. A bottom alignment device is provided at the center of the bottom of the vehicle body. The bottom alignment device is provided in two groups and is vertically stacked. Slide rails 1 are fixedly installed on both sides of the top table of the vehicle body. The two groups of the slide rails 1 are connected to the missile clamping device. Slide rails 2 are fixedly installed on both sides of the middle of the top table of the vehicle body. The two groups of the slide rails 2 are connected to the bullet clamping device.

[0009] The bottom calibration device comprises a base, wherein a calibration box is fixedly installed at the center of the top surface of the front end of the base, and slide grooves are opened on both side walls of the calibration box, and the same screw rod is rotatably connected at the center of the inner wall at both ends of the calibration box, and a push seat is meshed on the screw rod, and push rods are fixedly installed on the outer walls of both sides of the push seat, and two groups of push rods are respectively located in the two groups of slide grooves and the push seat is slidably connected to the inner wall of the calibration box through the push rods, and the end of the base is rotatably connected with a flap, and the outer ends of the two groups of push rods are movably connected with push plates, and the other ends of the two groups of push plates are movably connected to the two sides of the middle of the flap respectively, and a servo motor is fixedly installed on the top surface of the front end of the base, and the output shaft of the servo motor is fixedly connected to the end wall of the screw rod;

[0010] The flap on the bottom positioning device at the bottom is fixedly connected to the base on the bottom positioning device at the top, and the flap on the bottom positioning device at the top is fixedly connected to the inner wall of the bottom of the vehicle body.

[0011] Optionally, push-wheel hydraulic rods and hydraulic support feet are fixedly installed at the four corners of the bottom of the vehicle body, and steering wheel groups are fixedly installed at the bottoms of the four groups of push-wheel hydraulic rods.

[0012] Optionally, the missile clamping device includes a top frame, both side walls of the top frame are connected to a cable suspension assembly, the cable suspension assembly includes a bracket, a slide seat 1 is fixedly installed at the bottom of the bracket, the slide seat 1 is used in conjunction with a corresponding slide rail 1 and the bracket is slidably connected to the vehicle body, a hinge connector is connected to the top of the bracket, an L-shaped hollow arm bracket is connected to the output end of the hinge connector, the bracket is rotatably connected to the L-shaped hollow arm bracket through the hinge connector, the L-shaped hollow arm bracket and the bracket can be fixedly connected by bolts, the outer wall of the L-shaped hollow arm bracket is fixedly connected to the corresponding side wall of the top frame, and the L-shaped hollow arm bracket is fixedly connected to the corresponding side wall of the top frame. The inner wall at the end of the frame is rotatably connected to a rope winding wheel 2, and a servo motor 5a and a reducer 2b are fixedly installed on the side wall of the top frame. The output shaft of the servo motor 5a is fixedly connected to the input end of the reducer 2b, and the output shaft of the reducer 2b is fixedly connected to the rope winding wheel 2. The middle inner wall and the front inner wall of the L-shaped hollow boom are rotatably connected to a fixed pulley and a reversing roller. The sling on the rope winding wheel 2 is connected to two groups of fixed pulleys and reversing rollers. Two groups of rope outlets are opened on the top of the L-shaped hollow boom, and the two groups of rope outlets are respectively connected to two groups of reversing rollers, and the rope on the rope winding wheel 2 is output from the rope outlet.

[0013] Optionally, a crossbeam arm is fixedly installed at the bottom center of the top frame, and movable intervals are opened on the inner walls at both ends of the crossbeam arm, and slide rails three are fixedly installed on both sides of the bottom of the movable interval, and screw rod three is rotatably connected at the center of the inner wall of the movable interval, and the outer walls at both ends of the crossbeam arm are rotatably connected to wheels, and the wheels are fixedly connected to the corresponding end walls of screw rod three, and a threaded seat one is slidably connected to the inner wall of the movable interval, and the threaded seat one is meshed with the corresponding screw three, and limited slides are fixedly installed on the bottom of both sides of the threaded seat one, the limited slide is used in conjunction with the corresponding slide rail three and the threaded seat one is slidably connected to the slide rail three, and a hydraulic cylinder is fixedly installed on the two side walls of the threaded seat one, and a boom is fixedly installed on the output end of the hydraulic cylinder.

[0014] Optionally, a reducer 1 and a servo motor 4 are fixedly installed in the middle of the top frame, the output shaft of the servo motor 4 is fixedly connected to the input end of the reducer 1, and the output shaft of the reducer 1 is fixedly installed with a rope pulley 1 and is rotatably connected to the side wall of the top frame.

[0015] Optionally, a reciprocating screw is rotatably connected to the middle part of the top surface of the vehicle body, a servo motor 2 is fixedly installed on the end wall of the top surface of the vehicle body and the output shaft of the servo motor 2 is fixedly connected to the end wall of the reciprocating screw, three groups of support beams are fixedly installed on the two groups of bracket side walls, a threaded seat 2 is fixedly installed in the middle part of the support beam located at the bottom, the threaded seat 2 is meshed with the reciprocating screw and the missile clamping device is slidably connected to the vehicle body.

[0016] Optionally, the spring clamping device includes a slide plate, the bottom two sides of the slide plate are respectively used with two groups of slide rails two and the slide plate is slidably connected to the vehicle body, the middle part of the top surface of the vehicle body is rotatably connected with a screw rod two, the end wall of the top surface of the vehicle body is fixedly installed with a servo motor three, the output shaft of the servo motor three is fixedly connected with the end wall of the screw rod two, the center of the bottom of the slide plate is fixedly installed with a threaded seat three, the threaded seat three is meshed with the screw two, slide rails four are fixedly installed on both sides of the top of the slide plate, the middle part of the top surface of the slide plate is rotatably connected with a screw four, a servo motor six is ​​fixedly installed on the top of the slide plate and the output shaft of the servo motor six is ​​fixedly connected with the end wall of the screw four, the left ends of the two groups of slide rails four are slidably connected with a slide seat two, the right ends of the two groups of slide rails four are slidably connected with a slide seat three, the middle parts of the two groups of slide rails four are provided with a threaded seat four, the threaded seat four is meshed with the screw four and the threaded seat four is slidably connected to the slide plate, a connecting rod is fixedly installed on the top of the slide seat three and the end of the connecting rod is fixedly connected to the threaded seat four.

[0017] Optionally, an X-shaped connecting plate is provided on the top of the skateboard, and two groups of the X-shaped connecting plates are provided and distributed on both sides of the skateboard, and the two ends of the bottom of the two groups of X-shaped connecting plates are respectively movably connected to the slide seat two and the side walls of the threaded seat four, and a support platform is provided on the top of the skateboard, and slide rails five are opened on both sides of the front end of the support platform, and the two groups of slide rails five are slidably connected with the slide seat four, and the two ends of the top of the two groups of X-shaped connecting plates are respectively movably connected to the corresponding slide seat four and the right end wall of the support platform, and the outer walls on both sides of the support platform are fixedly installed with sliding strips, and the top side walls of the support platform are fixedly installed with a rotating cylinder.

[0018] Optionally, a support bridge is provided on the top of the support platform, and a screw rod five is meshed on the side wall of the support bridge and the end wall of the screw rod five is fixedly connected to the output end of the rotating cylinder, inner walls on both sides of the bottom of the support bridge are provided with inner slideways, the inner slideways are used in conjunction with the slide bar and the support bridge is slidably connected to the support platform, a servo motor seven is fixedly installed on the right side wall of the support bridge, a gear is fixedly installed on the output end of the servo motor seven, and a gear column is rotatably connected to the top right side of the support bridge and the gear column cooperates with the gear.

[0019] Optionally, the left end of the supporting bridge is rotatably connected to a rotating plate, the top of the supporting bridge is provided with a working bridge, the working bridge is provided with three groups and is spliced ​​with each other, the top of the rotating plate is fixedly connected to the bottom of the working bridge and the working bridge is rotatably connected to the supporting bridge, and both ends of the top of the working bridge are connected to clamps.

[0020] Compared with the prior art, the utility model has at least the following beneficial effects:

[0021] In the above scheme, by driving the servo motor 6 to drive the screw rod 4 to engage with the threaded seat 4, the slide seat 3 fixed to the threaded seat 4 can be driven to slide, so that the X-shaped connecting plate connected to the threaded seat 4 and the slide seat 2 moves, so that the X-shaped connecting plate is unfolded, thereby lifting the support platform on the top of the X-shaped connecting plate. Similarly, by driving the rotating cylinder, the screw rod 5 can be driven to cooperate with the support bridge, so that the support bridge can slide on the support platform, thereby fine-tuning the position of the missile. When the missile tilts on the X-axis, the servo motor 7 is driven to engage the gear at its end with the tooth column, so that the tooth column moves upward, thereby slightly lifting the working bridge, so as to facilitate the lifting and assembly of the missile on the working bridge.

[0022] By driving the servo motor five a to drive the reducer two b to work, the rope wheel two is slowly rotated, and the slings led out from the two sets of rope outlets are slowly released. At the same time, the outer support frame of the missile can be bound by the lowered slings. Thereafter, the outer support frame of the missile can be lifted by reversing the servo motor five a. Thereafter, the rotating wheel is rotated according to the length of the middle part of the missile to drive the screw three to rotate, thereby engaging with the threaded seat one, so that the limit slide and the slide rail three are relatively displaced, thereby changing the position of the two sets of hydraulic cylinders, so that the distance between the hydraulic cylinders at the front and rear ends is changed to adapt to the length of the missile. Thereafter, the two sets of hydraulic cylinders are adjusted according to the width of the two ends of the missile so that the booms at both ends can lift the missile body.

[0023] After lifting and limiting the missile, the tail of the missile needs to be assembled. When the middle and tail of the missile cannot be completely aligned, that is, the X, Y, and Z axes of the vehicle body at the bottom of the missile cannot coincide with the missile at the tail, the servo motor is driven to drive the screw rod to rotate, so that the screw rod is engaged with the push seat. Under the limiting action of the slide slot, the push seat pushes the push plate to move through the two sets of push rods, thereby turning the flap. Similarly, according to the deflection of the two sets of flaps, the X, Y, and Z axes of the vehicle body at the top are changed to coincide with the missile at the tail. After that, the four sets of hydraulic support feet are driven separately to make them contact with the ground, thereby supporting the vehicle body. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments of the present invention and, together with the description, further serve to explain the principles of the present invention and enable those skilled in the relevant art to make and use the present invention.

[0025] Figure 1 The figure is a three-dimensional structural diagram of an intelligent missile assembly vehicle;

[0026] Figure 2 The figure is a side perspective view of an intelligent missile assembly vehicle;

[0027] Figure 3 It is a schematic diagram of the structure of the bottom of the vehicle body;

[0028] Figure 4 The figure is a side plan view of an intelligent missile assembly vehicle;

[0029] Figure 5 It is a structural schematic diagram of the missile clamping device;

[0030] Figure 6 This is the installation position diagram of the missile clamping device;

[0031] Figure 7 This is a disassembled diagram of the missile clamping device;

[0032] Figure 8 It is a structural schematic diagram of the cable hoist assembly;

[0033] Fig. 9 It is the structural schematic diagram of the crossbeam arm;

[0034] Fig.10 This is the installation position diagram of the bullet clamping device;

[0035] Fig.11 This is a working diagram of the unfolding of the bullet clamping device;

[0036] Fig.12 It is a bottom-up stereoscopic view of the bullet clamping device;

[0037] Fig.13 It is a schematic diagram of the structure of each component on the skateboard;

[0038] Fig.14 This is a partial disassembled diagram of the bullet clamping device;

[0039] Fig.15 This is the split diagram of the working bridge and the supporting bridge;

[0040] Fig.16 It is a structural schematic diagram of the steering wheel assembly;

[0041] Fig.17 It is the connection diagram of two sets of bottom alignment devices;

[0042] Fig.18 It is a structural schematic diagram of the bottom calibration device.

[0043] [reference numerals]

[0044] Car body 100, bottom calibration device 110, base 111, calibration box 112, slide slot 113, screw rod 114, push seat 115, push rod 116, flap 117, push plate 118, servo motor 119,

[0045] Push wheel hydraulic rod 120, steering wheel set 121, hydraulic support foot 122,

[0046] Slide rail 130, reciprocating screw 131, servo motor 2 132,

[0047] Slide rail 2 140, screw rod 2 141, servo motor 3 142,

[0048] Missile clamping device 200, top frame 210, reducer 1 211, cable reel 1 212, servo motor 4 213,

[0049] Cable suspension assembly 220, bracket 221, slide seat 1 222, hinge connector 223, L-shaped hollow arm 224, cable reel 225, fixed pulley 226, reversing roller 227, cable outlet 228, servo motor 5 229a, reducer 2 229b,

[0050] Crossbeam arm 230, movable interval 231, slide rail 3 232, screw rod 3 233, rotating wheel 234,

[0051] Threaded seat 240, limit slide 241, hydraulic cylinder 242, boom 243,

[0052] Support beam 250, threaded seat 251,

[0053] Clip device 300, slide plate 310, threaded seat three 311, slide rail four 312, screw rod four 313, servo motor six 314, slide seat two 315, slide seat three 316, connecting rod 317, threaded seat four 318,

[0054] X-shaped connecting plate 320, support platform 330, slide rail 5 331, slide seat 4 332, rotary cylinder 333, screw rod 5 334, slide bar 335,

[0055] Support bridge 340 , inner slideway 341 , servo motor 342 , gear column 343 , rotating plate 344 , working bridge 345 , and clamp 346 .

[0056] As shown in the figure, in order to clearly implement the structure of the embodiment of the utility model, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the utility model to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0057] The following is a detailed description of an intelligent missile assembly vehicle provided by the utility model in combination with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternatives to implement some known technologies; and the accompanying drawings are only for a more specific description of the embodiments, and are not intended to specifically limit the utility model.

[0058] It should be noted that the references to "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments" and the like in the specification indicate that the embodiments described may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it should be within the knowledge of a person skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments (whether or not explicitly described).

[0059] In general, a term can be understood, at least in part, from its use in context. For example, depending, at least in part, on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending, at least in part, on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0060] It is to be understood that the meanings of “on,” “over,” and “above” in the present invention should be interpreted in the broadest manner, so that “on” not only means “directly on” something, but also includes the meaning of being “on” something with intervening features or layers, and “on” or “above” not only means “on” or “above” something, but also includes the meaning of being “on” or “above” something with no intervening features or layers.

[0061] Additionally, spatially relative terms such as "under," "beneath," "lower," "above," "upper," and the like may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as shown in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein may be similarly interpreted accordingly.

[0062] like Figure 1 , Figure 3 , Figure 17 to Figure 18 As shown, an embodiment of the utility model provides an intelligent missile assembly vehicle, including a vehicle body 100, a missile clamping device 200 and a bullet clamping device 300. A bottom alignment device 110 is provided at the center of the bottom of the vehicle body 100. The bottom alignment device 110 is provided with two groups and is vertically stacked. Slide rails 130 are fixedly installed on both sides of the top table of the vehicle body 100. The two groups of slide rails 130 are connected to the missile clamping device 200. Slide rails 2 140 are fixedly installed on both sides of the middle of the top table of the vehicle body 100. The two groups of slide rails 140 are connected to the bullet clamping device 300.

[0063] The bottom calibration device 110 includes a base 111, a calibration box 112 is fixedly installed at the center of the top surface of the front end of the base 111, and slide grooves 113 are provided on both side walls of the calibration box 112. The same screw 114 is rotatably connected at the center of the inner walls of both ends of the calibration box 112, and a push seat 115 is meshed on the screw 114. Push rods 116 are fixedly installed on the outer walls of both sides of the push seat 115. Two groups of push rods 116 are respectively located in the two groups of slide grooves 113, and the push seat 115 is slidably connected to the inner wall of the calibration box 112 through the push rods 116. A flap 117 is rotatably connected to the end of the base 111, and the outer ends of the two groups of push rods 116 are movably connected to push plates 118. The other ends of the two groups of push plates 118 are movably connected to the two sides of the middle of the flap 117, and a servo motor is fixedly installed on the top surface of the front end of the base 111. 119, the output shaft of the servo motor 119 is fixedly connected to the end wall of the screw rod 114. In the present application, when the missile is hoisted and assembled, when the middle and tail of the missile cannot be completely aligned, that is, the X, Y, and Z axes of the vehicle body 100 at the bottom of the missile cannot coincide with the missile at the tail, the servo motor 119 is driven to drive the screw rod 114 to rotate, so that the screw rod 114 is engaged with the push seat 115. Under the limiting action of the slide groove 113, the push seat 115 pushes the push plate 118 to move through the two groups of push rods 116, so that the flap 117 is flipped. Similarly, by deflecting the two groups of flaps 117, the X, Y, and Z axes of the vehicle body 100 at the top are changed to coincide with the missile at the tail, so as to facilitate rapid assembly;

[0064] The flap 117 on the bottom positioning device 110 at the bottom is fixedly connected to the base 111 on the top bottom positioning device 110, and the flap 117 on the top bottom positioning device 110 is fixedly connected to the bottom inner wall of the vehicle body 100. This arrangement can arbitrarily change the position of the vehicle body 100 on the three coordinate axes.

[0065] As an implementation method in this embodiment, Figure 3 and Fig.16As shown, the four corners of the bottom of the vehicle body 100 are fixedly installed with push wheel hydraulic rods 120 and hydraulic support feet 122, and the bottom of the four groups of push wheel hydraulic rods 120 are fixedly installed with steering wheel groups 121. The steering wheel group 121 consists of a steering wheel and a motor, and the motor can drive the steering wheel alone to move. In the present application, when the vehicle body 100 needs to move, the four groups of push wheel hydraulic rods 120 are driven to make the steering wheel group 121 at the bottom contact the ground. At this time, each group of steering wheel group 121 is driven individually, so that the vehicle body 100 can move in any direction. When the vehicle body 100 moves to the designated workstation, the push wheel hydraulic rods 120 can retract the steering wheel group 121 and make the base 111 contact the ground. The bottom positioning device 110 can change the position of the vehicle body 100 on the three coordinate axes. After the positioning of the vehicle body 100 is completed, the four groups of hydraulic support feet 122 are driven separately to make them contact the ground, thereby supporting the vehicle body 100.

[0066] As an implementation method in this embodiment, Figures 6 to 8As shown, the missile clamping device 200 includes a top frame 210, and both side walls of the top frame 210 are connected to a cable suspension assembly 220. The cable suspension assembly 220 includes a bracket 221, and a slide seat 222 is fixedly installed at the bottom of the bracket 221. The slide seat 222 is used in conjunction with the corresponding slide rail 130, and the bracket 221 is slidably connected to the vehicle body 100. The vehicle body 100 is supported by two groups of brackets 221. The top of the bracket 221 is connected to a hinge connector 223, and the output end of the hinge connector 223 is connected to an L-shaped hollow arm bracket 224. The bracket 221 is connected to the L-shaped hollow arm bracket 224 through the hinge connector 223. 4 is rotatably connected, the L-shaped hollow arm frame 224 and the bracket 221 can be fixedly connected by bolts. When transporting the device, the bolts can be removed, and the L-shaped hollow arm frame 224 and the bracket 221 can be folded for easy transportation. When the device is working, the L-shaped hollow arm frame 224 and the bracket 221 can be fixed by bolting, which is convenient for lifting the missile. The outer wall of the L-shaped hollow arm frame 224 is fixedly connected to the corresponding side wall of the top frame 210. The top frame 210 connects the two groups of L-shaped hollow arm frames 224 together. The inner wall of the end of the L-shaped hollow arm frame 224 is rotatably connected with a cable wheel 225. The top frame 2 The side wall of the L-shaped hollow arm 224 is fixedly installed with a servo motor 5 229a and a reducer 229b. The output shaft of the servo motor 5 229a is fixedly connected to the input end of the reducer 229b. The output shaft of the reducer 229b is fixedly connected to the rope pulley 225. The inner wall of the middle part and the inner wall of the front end of the L-shaped hollow arm 224 are both rotatably connected with a fixed pulley 226 and a reversing roller 227. The sling on the rope pulley 225 is connected to the two sets of fixed pulleys 226 and the reversing rollers 227. The top of the L-shaped hollow arm 224 is provided with two sets of rope outlets 228, which are respectively connected to the two sets of reversing rollers 227. The slings on 225 are output from the cable outlet 228. In the present application, two groups of slings are wound around the cable reel 225, and the two groups of slings are pulled in turn through two groups of reversing rollers 227 and fixed pulleys 226, and are output from the two groups of cable outlets 228. When the missile needs to be lifted and assembled, the servo motor 5 229a drives the reducer 229b to work, so that the cable reel 225 rotates slowly, and the slings output from the two groups of cable outlets 228 are slowly released. At the same time, the lowered slings can be used to bind the outer support frame of the missile, thereby assisting the lifting of the missile.

[0067] In this embodiment, if Fig. 9As shown, a crossbeam arm 230 is fixedly installed at the bottom center of the top frame 210, and active intervals 231 are opened on the inner walls at both ends of the crossbeam arm 230. Slide rails 232 are fixedly installed on both sides of the bottom of the active interval 231. A screw rod 233 is rotatably connected to the center of the inner wall of the active interval 231. The outer walls at both ends of the crossbeam arm 230 are rotatably connected to a rotating wheel 234, and the rotating wheel 234 is fixedly connected to the corresponding end wall of the screw rod 233. A threaded seat 240 is slidably connected to the inner wall of the active interval 231, and the threaded seat 240 is meshed with the corresponding screw rod 233. A limited slide seat 241 is fixedly installed on the bottom of both sides of the threaded seat 240. The limited slide seat 241 cooperates with the corresponding slide rail 232 and the screw rod 233 is used. The threaded seat 1 240 is slidably connected to the slide rail 3 232. Hydraulic cylinders 242 are fixedly installed on both side walls of the threaded seat 1 240. A lifting arm 243 is fixedly installed on the output end of the hydraulic cylinder 242. In the present application, the rotating wheel 234 is rotated according to the length of the middle part of the missile, so that it drives the screw rod 3 233 to rotate, thereby engaging with the threaded seat 1 240, so that the limiting slide 241 and the slide rail 3 232 are relatively displaced, thereby changing the position of the two groups of hydraulic cylinders 242, so that the distance between the hydraulic cylinders 242 at the front and rear ends is changed to adapt to the length of the missile. Thereafter, the two groups of hydraulic cylinders 242 are adjusted according to the width of the two ends of the missile, so that the lifting arms 243 at both ends can lift the missile body.

[0068] In this embodiment, if Figure 7 As shown, a reducer 211 and a servo motor 213 are fixedly installed in the middle of the top frame 210, the output shaft of the servo motor 213 is fixedly connected to the input end of the reducer 211, a rope pulley 212 is fixedly installed on the output shaft of the reducer 211, and the rope pulley 212 is rotatably connected to the side wall of the top frame 210, and the sling lowered by the rope pulley 212 can play an auxiliary role in lifting the missile.

[0069] In this embodiment, if Figure 6As shown, the middle part of the top surface of the vehicle body 100 is rotatably connected with a reciprocating screw 131, the end wall of the top surface of the vehicle body 100 is fixedly installed with a servo motor 132, and the output shaft of the servo motor 132 is fixedly connected to the end wall of the reciprocating screw 131, and the side walls of the two groups of brackets 221 are fixedly installed with three groups of support beams 250, and the support beams 250 can improve the connection rigidity between the two groups of brackets 221, and the middle part of the support beam 250 at the bottom is fixedly installed with a threaded seat 251, and the threaded seat 251 and the end wall of the reciprocating screw 131 are fixedly installed. The reciprocating screw 131 is engaged and the missile clamping device 200 is slidably connected to the vehicle body 100. In the present application, when the position of the missile clamping device 200 needs to be changed to facilitate work, the servo motor 2 132 is driven so that its output shaft drives the reciprocating screw 131 to rotate, so that the reciprocating screw 131 is engaged with the threaded seat 2 251, thereby driving the two sets of slide seats 1 222 to slide on the slide rail 130, so that the position of the missile clamping device 200 is changed.

[0070] As an implementation method in this embodiment, Figures 10 to 15 As shown, the clip device 300 includes a slide plate 310, and the two sides of the bottom of the slide plate 310 are respectively used in conjunction with two groups of slide rails 140, and the slide plate 310 is slidably connected to the vehicle body 100. The middle part of the top surface of the vehicle body 100 is rotatably connected with a screw rod 141, and a servo motor 3 142 is fixedly installed on the end wall of the top surface of the vehicle body 100. The output shaft of the servo motor 3 142 is fixedly connected to the end wall of the screw rod 141, and a threaded seat 311 is fixedly installed at the center of the bottom of the slide plate 310. The threaded seat 311 is meshed with the screw rod 141. By driving the servo motor 3 142 to drive the screw rod 141 to rotate, and at the same time, the screw rod 141 is meshed with the threaded seat 311, so that the slide plate 310 can slide on the vehicle body 100. The slide rails 312 are fixedly installed on both sides of the top of the slide plate 310. A screw rod four 313 is rotatably connected to the middle of the top surface of 0, a servo motor six 314 is fixedly installed on the top of the slide plate 310 and the output shaft of the servo motor six 314 is fixedly connected to the end wall of the screw rod four 313, the left ends of the two sets of slide rails four 312 are slidably connected to the slide seat two 315, and the right ends of the two sets of slide rails four 312 are slidably connected to the slide seat three 316, and the middle parts of the two sets of slide rails four 312 are provided with a threaded seat four 318, the threaded seat four 318 is meshed with the screw rod four 313 and the threaded seat four 318 is slidably connected to the slide plate 310, a connecting rod 317 is fixedly installed on the top of the slide seat three 316 and the end of the connecting rod 317 is fixedly connected to the threaded seat four 318, similarly, by driving the servo motor six 314 to drive the screw rod four 313 to mesh with the threaded seat four 318, the slide seat three 316 fixedly connected to the threaded seat four 318 can be driven to slide.

[0071] The top of the slide 310 is provided with an X-shaped connecting plate 320, and the X-shaped connecting plate 320 is provided with two groups and distributed on both sides of the slide 310. The two ends of the bottom of the two groups of X-shaped connecting plates 320 are respectively movably connected to the side walls of the sliding seat 2 315 and the threaded seat 4 318. When the threaded seat 4 318 rotates, it can drive the two groups of X-shaped connecting plates 320 to move, so that the X-shaped connecting plates 320 can be extended and contracted. The top of the slide 310 is provided with a support platform 330, and both sides of the front end of the support platform 330 are A slide rail five 331 is provided, and two sets of slide rails five 331 are slidably connected with a slide seat four 332. The two ends of the top of the two sets of X-shaped connecting plates 320 are movably connected with the corresponding slide seat four 332 and the right end wall of the support platform 330 respectively. When the X-shaped connecting plate 320 is extended and contracted, the sliding of the slide seat four 332 limits the movement of the X-shaped connecting plate 320. Slide bars 335 are fixedly installed on the outer walls of both sides of the support platform 330, and a rotating cylinder 333 is fixedly installed on the side wall of the top of the support platform 330.

[0072] The support platform 330 is provided with a support bridge 340 on the top, and a screw rod 334 is meshed with the side wall of the support bridge 340, and the end wall of the screw rod 334 is fixedly connected to the output end of the rotating cylinder 333, and inner slideways 341 are provided on the inner walls on both sides of the bottom of the support bridge 340, and the inner slideways 341 are used in conjunction with the slide bar 335, and the support bridge 340 is slidably connected to the support platform 330, and a servo motor 342 is fixedly installed on the right side wall of the support bridge 340, and a gear is fixedly installed on the output end of the servo motor 342, and a gear is rotatably connected to the top right side of the support bridge 340, and the gear column 343 cooperates with the gear.

[0073] The left end of the support bridge 340 is rotatably connected to a rotating plate 344, and a working bridge 345 is arranged on the top of the support bridge 340. The working bridge 345 is provided with three groups and is spliced ​​with each other. The top of the rotating plate 344 is fixedly connected to the bottom of the working bridge 345 and the working bridge 345 is rotatably connected to the support bridge 340. Both ends of the top of the working bridge 345 are connected to clamps 346. In the present application, by placing the middle of the missile on the two groups of clamps 346, when it is necessary to lift the missile, the positions of the missile clamping device 200 and the bullet clamping device 300 are changed by driving the servo motor 2 132 and the servo motor 3 142. After the calibration is completed, the servo motor 6 314 is driven to drive the screw rod 4 313 to engage with the threaded seat 4 318, which can drive the screw rod 4 313 to engage with the threaded seat 4 318. 18 fixedly connected slide seat three 316 slides, so that the X-shaped connecting plate 320 connected with threaded seat four 318 and slide seat two 315 moves, so that the X-shaped connecting plate 320 is unfolded, thereby lifting the support platform 330 on the top of the X-shaped connecting plate 320. Similarly, by driving the rotating cylinder 333, the screw rod five 334 can be driven to cooperate with the support bridge 340, so that the support bridge 340 can slide on the support platform 330, thereby fine-tuning the position of the missile. In particular, when the missile tilts on the X-axis, the servo motor seven 342 is driven to engage the gear at its end with the tooth column 343, so that the tooth column 343 moves upward, thereby slightly lifting the working bridge 345, so as to facilitate the lifting and assembly of the missile on the working bridge 345.

[0074] The working principle provided by the utility model is that the missile and the outer support frame are placed on the clamp 346, and then the steering wheel group 121 at the bottom is made to contact the ground by driving four groups of push wheel hydraulic rods 120. At this time, each group of steering wheel groups 121 is driven separately, so that the vehicle body 100 can move in any direction. When the vehicle body 100 moves to the specified work station, the positions of the missile clamping device 200 and the missile clamping device 300 are changed by driving the servo motor 2 132 and the servo motor 3 142, so as to calibrate the lifting of the missile. After the calibration is completed, the servo motor 6 314 is driven to drive the screw rod 4 313 to mesh with the threaded seat 4 318, so as to drive the sliding seat fixed to the threaded seat 4 318. The third 316 slides, so that the X-shaped connecting plate 320 connected with the threaded seat four 318 and the sliding seat two 315 moves, so that the X-shaped connecting plate 320 is unfolded, thereby lifting the support platform 330 on the top of the X-shaped connecting plate 320. Similarly, by driving the rotating cylinder 333, the screw rod five 334 can be driven to cooperate with the support bridge 340, so that the support bridge 340 can slide on the support platform 330, so as to fine-tune the position of the missile. When the missile tilts on the X-axis, the servo motor seven 342 is driven to engage the gear at the end thereof with the tooth column 343, so that the tooth column 343 moves upward, thereby slightly lifting the working bridge 345, so as to facilitate the lifting and assembly of the missile on the working bridge 345.

[0075] By driving the servo motor 5 229a to drive the reducer 229b to work, the rope wheel 225 is slowly rotated, and the slings derived from the two groups of rope outlets 228 are slowly released. At the same time, the outer support frame of the missile can be bound by the lowered slings. Thereafter, the servo motor 5 229a is reversed to lift the outer support frame of the missile. Thereafter, the rotating wheel 234 is rotated according to the length of the middle part of the missile to drive the screw rod 3 233 to rotate, thereby engaging with the threaded seat 1 240, so that the limiting slide 241 and the slide rail 3 232 are relatively displaced, thereby changing the position of the two groups of hydraulic cylinders 242, so that the spacing between the hydraulic cylinders 242 at the front and rear ends is changed to adapt to the length of the missile. Thereafter, according to the width of the two ends of the missile, the two groups of hydraulic cylinders 242 are adjusted so that the suspension arms 243 at the two ends can lift the missile body;

[0076] After the missile is lifted and limited, the tail of the missile needs to be assembled. When the middle and tail of the missile cannot be completely aligned, that is, the X, Y, and Z axes of the vehicle body 100 at the bottom of the missile cannot coincide with the missile at the tail, the servo motor 119 is driven to drive the screw 114 to rotate, so that the screw 114 is engaged with the push seat 115. Under the limiting action of the slide groove 113, the push seat 115 pushes the push plate 118 to move through the two groups of push rods 116, so that the flap 117 is turned over. Similarly, according to the deflection of the two groups of flaps 117, the X, Y, and Z axes of the vehicle body 100 at the top are changed to coincide with the missile at the tail. Thereafter, the four groups of hydraulic support feet 122 are driven separately to make them contact with the ground, thereby supporting the vehicle body 100.

[0077] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, and those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0078] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent missile assembly vehicle, comprising a vehicle body (100), a missile clamping device (200) and a missile clamping device (300), characterized in that: A bottom alignment device (110) is provided at the center of the bottom of the vehicle body (100), and the bottom alignment device (110) is provided with two groups and is vertically stacked. Slide rails 1 (130) are fixedly installed on both sides of the top table of the vehicle body (100), and the two groups of slide rails 1 (130) are connected to the missile clamping device (200). Slide rails 2 (140) are fixedly installed on both sides of the middle of the top table of the vehicle body (100), and the two groups of slide rails 2 (140) are connected to the missile clamping device (300); The bottom alignment device (110) comprises a base (111), a alignment box (112) is fixedly mounted at the center of the top surface of the front end of the base (111), both side walls of the alignment box (112) are provided with slide grooves (113), the inner walls at both ends of the alignment box (112) are rotatably connected with a same screw rod (114), a push seat (115) is meshed on the screw rod (114), and push rods (116) are fixedly mounted on the outer walls of both sides of the push seat (115), and two groups of the push rods (116) are respectively located in the two groups of slide grooves ( 113) and the push seat (115) is slidably connected to the inner wall of the calibration box (112) through a push rod (116), the end of the base (111) is rotatably connected to a flap (117), the outer ends of the two groups of push rods (116) are movably connected to push plates (118), and the other ends of the two groups of push plates (118) are movably connected to the two sides of the middle of the flap (117), and a servo motor (119) is fixedly installed on the top surface of the front end of the base (111), and the output shaft of the servo motor (119) is fixedly connected to the end wall of the screw (114); The flap (117) on the bottom positioning device (110) at the bottom is fixedly connected to the base (111) on the top bottom positioning device (110), and the flap (117) on the top bottom positioning device (110) is fixedly connected to the bottom inner wall of the vehicle body (100).

2. The intelligent missile assembly vehicle according to claim 1, characterized in that: Push wheel hydraulic rods (120) and hydraulic support feet (122) are fixedly installed at the four corners of the bottom of the vehicle body (100), and steering wheel groups (121) are fixedly installed at the bottoms of the four groups of push wheel hydraulic rods (120).

3. The intelligent missile assembly vehicle according to claim 1, characterized in that: The missile clamping device (200) comprises a top frame (210), both side walls of the top frame (210) are connected with a cable suspension assembly (220), the cable suspension assembly (220) comprises a bracket (221), a slide seat (222) is fixedly installed at the bottom of the bracket (221), the slide seat (222) is used in conjunction with a corresponding slide rail (130), and the bracket (221) is slidably connected to the vehicle body (100), and the bracket (221) is ) is connected to the top of the frame (210), the output end of the hinged connector (223) is connected to an L-shaped hollow arm frame (224), the support (221) is rotatably connected to the L-shaped hollow arm frame (224) through the hinged connector (223), the L-shaped hollow arm frame (224) and the support (221) can be fixedly connected by bolts, the outer wall of the L-shaped hollow arm frame (224) is fixedly connected to the corresponding side wall of the top frame (210), and the L-shaped The inner wall at the end of the hollow arm frame (224) is rotatably connected to the second cable wheel (225), and the side wall of the top frame (210) is fixedly installed with a servo motor (229a) and a reducer (229b). The output shaft of the servo motor (229a) is fixedly connected to the input end of the reducer (229b), and the output shaft of the reducer (229b) is fixedly connected to the second cable wheel (225). The inner wall of the middle part of the L-shaped hollow arm frame (224) is fixedly connected to the The inner wall of the front end is rotatably connected with a fixed pulley (226) and a reversing roller (227); the sling on the second cable winding wheel (225) is connected with two sets of fixed pulleys (226) and reversing rollers (227); two sets of cable outlets (228) are opened on the top of the L-shaped hollow arm (224); the two sets of cable outlets (228) are respectively connected with the two sets of reversing rollers (227); the sling on the second cable winding wheel (225) is output from the cable outlets (228).

4. The intelligent missile assembly vehicle according to claim 3, characterized in that: A crossbeam arm (230) is fixedly installed at the bottom center of the top frame (210), and movable intervals (231) are opened on the inner walls at both ends of the crossbeam arm (230), and three slide rails (232) are fixedly installed on both sides of the bottom of the movable interval (231), and a screw rod (233) is rotatably connected to the center of the inner wall of the movable interval (231), and rotating wheels (234) are rotatably connected to the outer walls at both ends of the crossbeam arm (230), and the rotating wheels (234) are fixedly connected to the corresponding end walls of the screw rod (233), and the movable interval (231 ) is slidably connected to the inner wall of a threaded seat 1 (240), the threaded seat 1 (240) is meshed with the corresponding screw rod 3 (233), the bottom of both sides of the threaded seat 1 (240) are fixedly installed with limit slides (241), the limit slides (241) are used in conjunction with the corresponding slide rail 3 (232) and the threaded seat 1 (240) is slidably connected to the slide rail 3 (232), the two side walls of the threaded seat 1 (240) are fixedly installed with hydraulic cylinders (242), and the output ends of the hydraulic cylinders (242) are fixedly installed with booms (243).

5. The intelligent missile assembly vehicle according to claim 3, characterized in that: A reducer 1 (211) and a servo motor 4 (213) are fixedly installed in the middle of the top frame (210); an output shaft of the servo motor 4 (213) is fixedly connected to an input end of the reducer 1 (211); a rope pulley 1 (212) is fixedly installed on the output shaft of the reducer 1 (211) and is rotatably connected to a side wall of the top frame (210) around the rope pulley 1 (212).

6. The intelligent missile assembly vehicle according to claim 3, characterized in that: A reciprocating screw (131) is rotatably connected to the middle of the top surface of the vehicle body (100); a servo motor 2 (132) is fixedly installed on the end wall of the top surface of the vehicle body (100); and the output shaft of the servo motor 2 (132) is fixedly connected to the end wall of the reciprocating screw (131); three groups of support beams (250) are fixedly installed on the side walls of the two groups of brackets (221); a threaded seat 2 (251) is fixedly installed in the middle of the support beam (250) at the bottom; the threaded seat 2 (251) is meshed with the reciprocating screw (131) and the missile clamping device (200) is slidably connected to the vehicle body (100).

7. The intelligent missile assembly vehicle according to claim 1, characterized in that: The spring clamping device (300) comprises a slide plate (310), the two sides of the bottom of the slide plate (310) are respectively used in conjunction with two groups of slide rails (140), and the slide plate (310) is slidably connected to the vehicle body (100), the middle of the top surface of the vehicle body (100) is rotatably connected with a screw rod (141), a servo motor (142) is fixedly installed on the end wall of the top surface of the vehicle body (100), the output shaft of the servo motor (142) is fixedly connected to the end wall of the screw rod (141), a threaded seat (311) is fixedly installed at the center of the bottom of the slide plate (310), the threaded seat (311) is meshed with the screw rod (141), and slide rails (312) are fixedly installed on both sides of the top of the slide plate (310), and the top of the slide plate (310) is fixedly installed with a screw rod (141). A screw rod four (313) is rotatably connected in the middle of the surface, a servo motor six (314) is fixedly installed on the top of the slide plate (310), and the output shaft of the servo motor six (314) is fixedly connected to the end wall of the screw rod four (313), the left ends of the two groups of the slide rails four (312) are slidably connected to the slide seat two (315), and the right ends of the two groups of the slide rails four (312) are slidably connected to the slide seat three (316), and the middle parts of the two groups of the slide rails four (312) are provided with a threaded seat four (318), the threaded seat four (318) is meshed with the screw rod four (313), and the threaded seat four (318) is slidably connected to the slide plate (310), and a connecting rod (317) is fixedly installed on the top of the slide seat three (316), and the end of the connecting rod (317) is fixedly connected to the threaded seat four (318).

8. The intelligent missile assembly vehicle according to claim 7, characterized in that: The top of the slide plate (310) is provided with an X-shaped connecting plate (320), and the X-shaped connecting plate (320) is provided with two groups and distributed on both sides of the slide plate (310). The bottom ends of the two groups of X-shaped connecting plates (320) are respectively movably connected to the side walls of the second slide seat (315) and the fourth threaded seat (318). The top of the slide plate (310) is provided with a support platform (330). Both sides of the front end of the support platform (330) are provided with slide rails (331). The two groups of slide rails (331) are slidably connected to the fourth slide seat (332). The top ends of the two groups of X-shaped connecting plates (320) are respectively movably connected to the corresponding fourth slide seat (332) and the right end wall of the support platform (330). The outer walls of both sides of the support platform (330) are fixedly installed with slide bars (335), and the top side wall of the support platform (330) is fixedly installed with a rotating cylinder (333).

9. The intelligent missile assembly vehicle according to claim 8, characterized in that: A support bridge (340) is provided on the top of the support platform (330), a screw rod five (334) is meshed on the side wall of the support bridge (340), and the end wall of the screw rod five (334) is fixedly connected to the output end of the rotary cylinder (333), inner slideways (341) are provided on the inner walls on both sides of the bottom of the support bridge (340), the inner slideways (341) are used in conjunction with the slide bar (335), and the support bridge (340) is slidably connected to the support platform (330), a servo motor seven (342) is fixedly installed on the right side wall of the support bridge (340), and a gear is fixedly installed on the output end of the servo motor seven (342), and a gear is rotatably connected to the top right side of the support bridge (340), and the gear column (343) cooperates with the gear.

10. The intelligent missile assembly vehicle according to claim 9, characterized in that: The left end of the support bridge (340) is rotatably connected to a rotating plate (344), a working bridge (345) is provided on the top of the support bridge (340), the working bridge (345) is provided with three groups and is spliced ​​with each other, the top of the rotating plate (344) is fixedly connected to the bottom of the working bridge (345), and the working bridge (345) is rotatably connected to the support bridge (340), and both ends of the top of the working bridge (345) are connected to clamps (346).

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