Six-degree-of-freedom posture adjusting mechanism of missile loading vehicle

Abstract

The utility model discloses a six-degree-of-freedom posture adjusting mechanism of a missile loading vehicle, which comprises a fork frame, a transverse moving oil cylinder, a longitudinal moving plate, a longitudinal moving oil cylinder, a turntable bearing I, an oil cylinder bracket, a rolling oil cylinder, a pitching oil cylinder, a turntable bearing II and a pitching rolling seat, a longitudinal moving plate is installed in a fork frame, the output end of a piston rod of a longitudinal moving oil cylinder is hinged to the longitudinal moving plate, a first turntable bearing is installed at the upper end of the longitudinal moving plate, an oil cylinder support is installed above the first turntable bearing, a turbine is installed on the outer side of the oil cylinder support through a screw, the turbine is meshed with a worm, and the worm is installed on the longitudinal moving plate. Two groups of rolling oil cylinders and pitching oil cylinders are uniformly and symmetrically arranged in the oil cylinder support, a pitching rolling seat is provided with a turntable bearing II through a screw, and the turntable bearing II is connected with the tray. According to the six-degree-of-freedom posture adjusting mechanism of the missile hanging vehicle, the technical problems that in the prior art, the degree of freedom is low, and hanging is inconvenient are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of posture adjustment of a bomb hanging vehicle, in particular to a six-degree-of-freedom posture adjustment mechanism of a bomb hanging vehicle. Background Art

[0002] Nowadays, the installation of heavy objects such as accessories on domestic and foreign aircraft is basically completed by missile hanging vehicles. The attitude adjustment work platform is the core component of the missile hanging vehicle, which is located at the front end of the lifting arm of the missile hanging vehicle. It can realize the adjustment of multiple degrees of freedom of the missile body in cooperation with the lifting arm of the missile hanging vehicle. However, most of the attitude adjustment trays generally lack lateral movement due to structural limitations, that is, the attitude adjustment tray can only complete 4 degrees of freedom adjustment at most. In the end, it may be necessary to repeatedly enter the vehicle to install the missile on the aircraft, which is inefficient. The utility model designs a 5-degree-of-freedom attitude adjustment tray, which can be fully realized by motorized means, and repeatedly adds a manual rotation mechanism to make the installation more convenient. Utility Model Content

[0003] The utility model aims to provide a six-degree-of-freedom posture adjustment mechanism for a bomb hanging vehicle, so as to solve the technical problems of low degree of freedom and inconvenient hanging in the prior art.

[0004] To achieve the above-mentioned purpose, the utility model provides a six-degree-of-freedom posture adjustment mechanism for a bomb hanging vehicle, including a fork frame, a transverse oil cylinder, a longitudinal movement plate, a longitudinal oil cylinder, a turntable bearing one, a cylinder bracket, a rolling oil cylinder, a pitching oil cylinder, a turntable bearing two and a pitching and rolling seat, the rear end of the fork frame is connected to the adapter seat, a transverse oil cylinder is arranged on the side plate of the adapter seat, the transverse oil cylinder is hinged to a mounting seat arranged above the rear end of the fork frame, the piston rod output end of the longitudinal oil cylinder is hinged to the longitudinal movement plate, the longitudinal movement plate is installed in the fork frame, and the longitudinal movement plate is installed in the fork frame. A slewing bearing 1 is installed on the upper end of the shifting plate, and a cylinder support is installed above the slewing bearing 1. A turbine is installed on the outer side of the cylinder support by means of screws, and the turbine is meshed with a worm, and the worm is installed on the longitudinal shifting plate; two groups of roll cylinders and pitch cylinders are evenly and symmetrically installed inside the cylinder support, and the piston rod output end of the roll cylinder is hinged to the pitch roll seat, and the piston rod output end of the pitch cylinder is hinged to the pitch roll seat; a slewing bearing 2 is installed on the upper end of the pitch roll seat by means of screws, and the upper end of the slewing bearing 2 is connected to the tray by means of screws.

[0005] Furthermore, sliding grooves are provided on both inner sides of the fork frame, and the fork frame is movably connected to the longitudinal movement plate through the sliding grooves. The front baffle is installed on the front side of the fork frame by screws, and the support three is installed on the rear side of the fork frame. The support three is hinged to the cylinder end of the longitudinal movement cylinder, and the piston rod end of the longitudinal movement cylinder is hinged to the side of the longitudinal movement plate.

[0006] Furthermore, the upper surface of the longitudinal movement plate is connected to the bottom of the outer ring of the turntable bearing and the support one and the support two on one side of the turntable bearing through screws; the top of the inner ring of the turntable bearing is connected to the cylinder support through screws, the support one and the support two are movably connected to the two sides of the worm through deep groove ball bearings, one end of the worm is connected to the output shaft of the reducer through a coupling, the output shaft of the reducer is connected to the hydraulic motor through a key, and the reducer is installed on the bracket one by screws.

[0007] Furthermore, a waist-shaped hole is opened at the bottom of the cylinder barrel of the rolling cylinder, the rolling cylinder is connected to the cylinder bracket through a pin shaft 1, the pin shaft 1 is slidingly connected to the waist-shaped hole, the piston rod of the rolling cylinder is hinged to the pitch and roll seat through a pin shaft 2, and a joint bearing is installed in the end hole of the rolling cylinder piston rod.

[0008] Furthermore, the cylinder ear shaft of the pitch cylinder is hinged to the cylinder support, the pitch cylinder piston rod is hinged to the pitch and roll seat through pin shaft three, and a joint bearing is installed in the end hole of the pitch cylinder piston rod; the pitch and roll seat is hinged to the universal plate through pin shaft three, and a copper sleeve one is installed in the mounting hole of pin shaft three of the universal plate; the universal plate and the cylinder support are hinged through pin shaft four, and a copper sleeve two is installed in the mounting hole of pin shaft four of the universal plate.

[0009] Furthermore, the lower end of the outer ring of the second turntable bearing is connected to the pitch and roll seat by screws, and the upper end of the inner ring of the second turntable bearing is connected to the tray by screws. The inner wall of the inner ring of the second turntable bearing is arranged with three sockets according to the circumference, and the three sockets can be connected to the tray through quick-release pins.

[0010] Furthermore, the fork frame and the adapter are connected through a pin shaft 5, and the rear end of the fork frame and the upper end of the adapter are in surface contact; the cylinder barrel of the transverse oil cylinder is hinged to the mounting seat on the fork frame, and the piston rod of the transverse oil cylinder is hinged to the adapter.

[0011] Furthermore, scissor arms are respectively provided on the pin shaft five between the two sides of the adapter and the fork frame, and the scissor arms and the adapter are hinged through the pin shaft five; the pull rods are respectively hinged on the two sides of the upper end of the adapter through the pin shaft six, and the adapter and the pull rods and scissor arms on both sides of the adapter are parallelogram structures.

[0012] Based on the above technical solution, the utility model can produce the following beneficial effects:

[0013] The utility model provides a six-degree-of-freedom posture adjustment mechanism for a bomb hanging vehicle, designs a five-degree-of-freedom posture adjustment tray, which can be fully realized in a motorized manner, and repeatedly adds a manual rotating mechanism to make hanging more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of an embodiment of the utility model;

[0015] Figure 2 It is a structural transverse cross-sectional view of an embodiment of the utility model;

[0016] Figure 3 It is a structural axial cross-sectional view of an embodiment of the utility model;

[0017] In the figure: 1. front baffle; 2. longitudinal plate; 3. cylinder support; 4. turntable bearing 1; 5. rolling cylinder; 6. fork frame; 7. pin 2; 8. turbine; 9. worm; 10. support 1; 11. motor; 12. coupling; 13. reducer; 14. adapter; 15. pin 5; 16. shear arm; 17. transverse cylinder; 18. pull rod; 19. socket; 20. turntable bearing 2; 21. taper pin; 22. tray; 23. pitch cylinder; 24. universal plate; 25. copper sleeve 1; 26. quick release pin; 27. pin 4; 28. pin 1; 29. ​​pin 3; 30. copper sleeve 2; 31. longitudinal cylinder; 32. support 3; 33. support 2; 34. pitch and roll seat; 35. pin 6. DETAILED DESCRIPTION

[0018] In order to better understand the purpose, structure and function of the utility model, the six-degree-of-freedom posture adjustment mechanism of the bomb hanging vehicle of the utility model is further described in detail below in conjunction with the accompanying drawings.

[0019] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0020] like Figure 1-Figure 3As shown, the utility model provides a six-degree-of-freedom posture adjustment mechanism for a bomb hanging vehicle, including a fork frame 6, a transverse cylinder 17, a longitudinal plate 2, a longitudinal cylinder 31, a turntable bearing 1 4, a cylinder bracket 3, a rolling cylinder 5, a pitching cylinder 23, a turntable bearing 20 and a pitching and rolling seat 34, the rear end of the fork frame 6 is connected to the adapter seat 14, the transverse cylinder 17 is arranged on the side plate of the adapter seat 14, the transverse cylinder 17 is hinged to the mounting seat arranged above the rear end of the fork frame 6, the piston rod output end of the longitudinal cylinder 31 is hinged to the longitudinal plate 2, the longitudinal plate 2 is installed in the fork frame 6, and the longitudinal plate 2 is installed on the upper end of the turntable bearing 4, and the cylinder support 3 is installed above the turntable bearing 4. The turbine 8 is installed on the outer side of the cylinder support 3 by screws. The turbine 8 is meshed with the worm 9, and the worm 9 is installed on the longitudinal movement plate 2; two groups of rolling cylinders 5 and pitching cylinders 23 are evenly and symmetrically installed inside the cylinder support 3, the piston rod output end of the rolling cylinder 5 is hinged to the pitch rolling seat 34, and the piston rod output end of the pitch cylinder 23 is hinged to the pitch rolling seat 34; the turntable bearing 20 is installed on the upper end of the pitch rolling seat 34 by screws, and the upper end of the turntable bearing 20 is connected to the tray 22 by screws.

[0021] Slide grooves are provided on both inner sides of the fork frame 6, and the fork frame 6 is movably connected to the longitudinal movement plate 2 through the slide grooves. The front baffle 1 is installed on the front side of the fork frame 6 by screws, and the support three 32 is installed on the rear side of the fork frame 6. The support three 32 is hinged to the cylinder end of the longitudinal movement cylinder 31, and the piston rod end of the longitudinal movement cylinder 31 is hinged to the side of the longitudinal movement plate 2.

[0022] The upper surface of the longitudinal movement plate 2 is connected to the bottom of the outer ring of the turntable bearing 4 and the support 10 and the support 2 33 on the side of the turntable bearing 4 through screws; the top of the inner ring of the turntable bearing 4 is connected to the cylinder support 3 through screws, and the support 10 and the support 2 33 are movably connected to the two sides of the worm 9 through deep groove ball bearings respectively, one end of the worm 9 is connected to the output shaft of the reducer 13 through the coupling 9, the output shaft of the reducer 13 is connected to the hydraulic motor 11 through a key, and the reducer 13 is installed on the bracket 10 through screws.

[0023] A waist-shaped hole is opened at the bottom of the cylinder barrel of the rolling cylinder 5, and the rolling cylinder 5 is connected to the cylinder bracket 3 through a pin shaft 28, and the pin shaft 28 is slidingly connected to the waist-shaped hole. The piston rod of the rolling cylinder 5 is hinged to the pitch and roll seat 34 through a pin shaft 2 7, and a joint bearing is installed in the end hole of the piston rod of the rolling cylinder 5.

[0024] Among them, the pin shaft 28 can slide in the waist-shaped hole at the bottom of the cylinder barrel of the rolling cylinder 5.

[0025] The cylinder ear shaft of the pitch cylinder 23 is hinged to the cylinder support 3, the piston rod of the pitch cylinder 23 is hinged to the pitch roll seat 34 through the pin three 29, and a joint bearing is installed in the end hole of the piston rod of the pitch cylinder 23; the pitch roll seat 34 is hinged to the universal plate 24 through the pin three 29, and a copper sleeve 1 25 is installed in the mounting hole of the pin three 29 of the universal plate 24; the universal plate 24 and the cylinder support 3 are hinged through the pin four 27, and a copper sleeve 2 30 is installed in the mounting hole of the pin four 27 of the universal plate 24.

[0026] The copper sleeve 1 25 and the copper sleeve 2 30 are installed in the installation holes of the universal plate 24 to reduce the rotational friction.

[0027] The lower end of the outer ring of the turntable bearing 20 is connected to the pitch and roll seat 34 by screws, and the upper end of the inner ring of the turntable bearing 20 is connected to the tray 22 by screws. The inner wall of the inner ring of the turntable bearing 20 is arranged with three sockets 19 according to a circumference of 270 degrees. The three sockets 3 can be connected to the tray 22 through quick-release pins 26.

[0028] The tray 22 and the three sockets 3 are fixed by quick-release pins 26 , and the quick-release pins 26 are installed above the tray 22 for quick connection with the missile transfer beam.

[0029] The fork frame 6 is connected to the adapter seat 14 through a pin shaft 5 15, and the rear end of the fork frame 6 is in surface contact with the upper end of the adapter seat 14; the cylinder barrel of the traverse oil cylinder 17 is hinged to the mounting seat on the fork frame 6, and the piston rod of the traverse oil cylinder 17 is hinged to the adapter seat 14. Among them, the rear end of the fork frame 6 and the upper end of the adapter seat 14 are in surface contact to keep the fork frame horizontal.

[0030] Scissor arms 16 are respectively provided on the pin shaft 5 15 between the two sides of the adapter 14 and the fork frame 6, and the scissor arms 16 are hinged to the adapter 14 through the pin shaft 5 15; the pull rods 18 are respectively hinged on the two sides of the upper end of the adapter 14 through the pin shaft 6 35, and the adapter 14 and the pull rods 18 and the scissor arms 16 on both sides of the adapter 14 are parallelogram structures, ensuring that the posture adjustment platform always remains horizontal during lifting.

[0031] The working method of the utility model is:

[0032] When the posture adjustment mechanism performs lifting motion: an oil cylinder is installed between the scissor arm 16 and the chassis of the vehicle body, and the posture adjustment working platform can move up and down through the extension and retraction of the oil cylinder.

[0033] When the posture adjustment mechanism moves longitudinally, the longitudinal cylinder 31 is extended and retracted, driving the longitudinal plate 2 to move longitudinally in the slide groove of the fork frame 6, thereby driving the parts thereon to move longitudinally.

[0034] When the posture adjustment mechanism moves laterally, the transverse cylinder 17 is extended and retracted, driving the fork frame and all parts thereon to slide laterally along the pin shaft 15, thereby realizing the transverse movement of the posture adjustment work platform.

[0035] When the posture adjustment mechanism performs pitching motion: the pitching cylinders 23 are symmetrically arranged along the transverse center interface. During operation, one of them extends and the other needs to be retracted, and the extension or retraction lengths of the two are equal, thereby driving the pitch adjustment seat 34 to pitch or tilt, thereby realizing the pitching motion of the posture adjustment work platform.

[0036] When the posture adjustment mechanism performs rolling motion: the rolling cylinders 5 are symmetrically arranged along the longitudinal center interface. During operation, one of them extends and the other needs to be retracted, and the extension or retraction lengths of the two are equal, thereby driving the pitch adjustment seat 34 to pitch or tilt, thereby realizing the rolling motion of the posture adjustment work platform.

[0037] When the attitude adjustment mechanism performs motorized horizontal rotation movement: the hydraulic motor 11 works, and the power is transmitted to the worm 9 through the reducer 13 and the coupling 12. The worm 9 drives the turbine 8, and the turbine 8 drives the cylinder support 3 and the inner ring of the turntable bearing 4 to rotate, thereby realizing the horizontal rotation of the horizontal attitude adjustment platform. By controlling the forward and reverse rotation of the hydraulic motor 11, the clockwise and counterclockwise rotation of the attitude adjustment platform can be realized. The turbine can be designed to the required size according to the situation. If 0-360° rotation is required, the turbine is one circle. If only ±100° rotation is required, the turbine can be designed to meet the ±100° rotation size.

[0038] When the posture adjustment mechanism performs manual horizontal rotation movement: unplug the quick release pin 26 used to fix the tray 22, and manually move the tray 22 to rotate. After rotating to the desired position, the quick release pin 26 can be reinserted to fix the tray 22 on the socket 19 through the quick release pin.

[0039] It is understood that the present invention is described by some embodiments, and those skilled in the art are aware that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A six-degree-of-freedom posture adjustment mechanism for a bomb hanging vehicle, characterized in that: The invention comprises a fork frame (6), a lateral oil cylinder (17), a longitudinal plate (2), a longitudinal oil cylinder (31), a turntable bearing (4), a cylinder support (3), a rolling oil cylinder (5), a pitch oil cylinder (23), a turntable bearing (20) and a pitch rolling seat (34), wherein the rear end of the fork frame (6) is connected to the adapter seat (14), the lateral oil cylinder (17) is arranged on the side plate of the adapter seat (14), the lateral oil cylinder (17) is hinged to the mounting seat arranged above the rear end of the fork frame (6), the piston rod output end of the longitudinal oil cylinder (31) is hinged to the longitudinal plate (2), the longitudinal plate (2) is installed in the fork frame (6), and the upper end of the longitudinal plate (2) is installed with a turntable bearing (11). 4), a cylinder support (3) is installed above the turntable bearing 1 (4), a turbine (8) is installed on the outer side of the cylinder support (3) by screws, the turbine (8) is meshed with a worm (9), and the worm (9) is installed on the longitudinal movement plate (2); two groups of rolling cylinders (5) and pitching cylinders (23) are evenly and symmetrically installed inside the cylinder support (3), the piston rod output end of the rolling cylinder (5) is hinged to the pitching and rolling seat (34), and the piston rod output end of the pitching cylinder (23) is hinged to the pitching and rolling seat (34); the turntable bearing 2 (20) is installed on the upper end of the pitching and rolling seat (34) by screws, and the upper end of the turntable bearing 2 (20) is connected to the tray (22) by screws.

2. The six-degree-of-freedom posture adjustment mechanism of a bomb hanging vehicle according to claim 1, characterized in that: The two inner sides of the fork frame (6) are provided with sliding grooves, and the fork frame (6) is movably connected to the longitudinal movement plate (2) through the sliding grooves. The front side of the fork frame (6) is installed with a front baffle (1) by screws, and the rear side of the fork frame (6) is installed with a support three (32), and the support three (32) is hinged to the cylinder end of the longitudinal movement cylinder (31), and the piston rod end of the longitudinal movement cylinder (31) is hinged to the side of the longitudinal movement plate (2).

3. The six-degree-of-freedom posture adjustment mechanism of a bomb hanging vehicle according to claim 1, characterized in that: The upper surface of the longitudinal shift plate (2) is connected to the bottom of the outer ring of the turntable bearing (4) and the support (10) and support (33) on the side of the turntable bearing (4) by screws; the top of the inner ring of the turntable bearing (4) is connected to the cylinder support (3) by screws, and the support (10) and support (33) are movably connected to the two sides of the worm (9) by deep groove ball bearings, respectively; one end of the worm (9) is connected to the output shaft of the reducer (13) by a coupling (12), and the output shaft of the reducer (13) is connected to the hydraulic motor (11) by a key, and the reducer (13) is mounted on the support (10) by screws.

4. The six-degree-of-freedom posture adjustment mechanism of a bomb hanging vehicle according to claim 1, characterized in that: A waist-shaped hole is provided at the bottom of the cylinder barrel of the rolling oil cylinder (5); the rolling oil cylinder (5) is connected to the oil cylinder support (3) via a first pin (28); the first pin (28) is slidably connected to the waist-shaped hole; the piston rod of the rolling oil cylinder (5) is hinged to the pitch rolling seat (34) via a second pin (7); and a spherical bearing is installed in the end hole of the piston rod of the rolling oil cylinder (5).

5. The six-degree-of-freedom posture adjustment mechanism of a bomb hanging vehicle according to claim 1, characterized in that: The cylinder ear shaft of the pitch cylinder (23) is hinged to the cylinder support (3); the piston rod of the pitch cylinder (23) is hinged to the pitch roll seat (34) through a pin shaft three (29); a joint bearing is installed in the end hole of the piston rod of the pitch cylinder (23); the pitch roll seat (34) is hinged to the universal plate (24) through a pin shaft three (29); a copper sleeve one (25) is installed in the mounting hole of the pin shaft three (29) of the universal plate (24); the universal plate (24) is hinged to the cylinder support (3) through a pin shaft four (27); a copper sleeve two (30) is installed in the mounting hole of the pin shaft four (27) of the universal plate (24).

6. The six-degree-of-freedom posture adjustment mechanism of a bomb hanging vehicle according to claim 1, characterized in that: The lower end of the outer ring of the second turntable bearing (20) is connected to the pitch and roll seat (34) by screws, and the upper end of the inner ring of the second turntable bearing (20) is connected to the tray (22) by screws. The inner wall of the inner ring of the second turntable bearing (20) is provided with three sockets (19) arranged at a circle (270) degrees. The three sockets (19) can be connected to the tray (22) by quick-release pins (26).

7. The six-degree-of-freedom posture adjustment mechanism of a bomb hanging vehicle according to claim 1, characterized in that: The fork frame (6) and the adapter seat (14) are connected via a pin shaft (15), and the rear end of the fork frame (6) and the upper end of the adapter seat (14) are in surface contact; the cylinder barrel of the transverse oil cylinder (17) is hinged to the mounting seat on the fork frame (6), and the piston rod of the transverse oil cylinder (17) is hinged to the adapter seat (14).

8. The six-degree-of-freedom posture adjustment mechanism of a bomb hanging vehicle according to claim 1, characterized in that: A scissor arm (16) is provided on the pin shaft five (15) between the two sides of the adapter seat (14) and the fork frame (6), and the scissor arm (16) is hinged to the adapter seat (14) through the pin shaft five (15); the pull rod (18) is hinged to the two sides of the upper end of the adapter seat (14) through the pin shaft six (35), and the adapter seat (14) and the pull rod (18) and the scissor arm (16) on both sides of the adapter seat (14) are parallelogram structures.

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