Missile hanging vehicle with six-degree-of-freedom lifting mechanism

Abstract

The missile hanging vehicle with the six-degree-of-freedom lifting mechanism comprises an electric drive carrying platform and a lifting mechanism arranged on the electric drive carrying platform, a rotating mechanism is arranged at the top of the lifting mechanism, the rotating mechanism is rotationally connected with an inclining mechanism, the top of the inclining mechanism is telescopically connected with a translation mechanism, and the translation mechanism is connected with the lifting mechanism. The translation mechanism comprises an outer frame, longitudinal movement inner frames and transverse movement supporting plates, longitudinal movement sliding rails are arranged on the inner side of a frame in the longitudinal movement direction of the outer frame and used for being connected with the two longitudinal movement inner frames in a sliding mode, and transverse movement sliding rails are arranged on the inner side of a frame in the transverse movement direction of each longitudinal movement inner frame and used for being connected with the two transverse movement supporting plates in a sliding mode. And the two transverse moving support plates on each longitudinal moving inner frame are respectively provided with two brackets which are matched with each other. Based on the electrically-driven carrying platform, ammunition can be carried, an aircraft can be hung with the ammunition in a small activity space, and the bracket can move at six degrees of freedom, so that the ammunition hanging vehicle has the capacity of carrying and hanging ammunition with various diameters.

Description

Technical Field

[0001] The utility model relates to the technical field of projectile placement and transportation, and more specifically to a projectile hanging vehicle with a six-degree-of-freedom lifting mechanism. Background Art

[0002] The ammunition carrier is a support equipment used for special missions. The weight of ammunition generally ranges from tens of kilograms to thousands of kilograms. It is impossible to complete it by manpower alone. Especially when loading external ammunition, it is very necessary to use the ammunition carrier for operation. At present, all countries in the world attach great importance to the development of weapon support equipment. The maximum role of aircraft platforms is inseparable from the "seamless" cooperation of support equipment. The intelligent and information level of support equipment is particularly important.

[0003] Existing bomb carriers generally have problems such as low automation and intelligence, long assembly and disassembly time, etc., and require the cooperation of multiple maintenance personnel. There are many inconveniences when performing disassembly and assembly tasks, and they cannot meet the needs of future combat development. At the same time, existing bomb carriers are generally equipped with gasoline engines, which makes the later maintenance costs too high. In addition, due to the influence of the front and rear counterweights of the vehicle body when carrying heavy ammunition, the main wheels of the transport vehicle bear a large load, and the steering shaft is easy to break when the turning angle is large. In addition, the existing bomb carriers require special matching of the ammunition racks. When placing ammunition of different diameters, it is necessary to use a bracket of the corresponding diameter, which has a high cost of use and is inconvenient to operate. With the development and progress of the aviation industry, the requirements for the functions and performance indicators of aircraft support equipment are constantly increasing, and it is necessary to develop support equipment that is more suitable for the needs of modern aviation equipment. Utility Model Content

[0004] In order to address the deficiencies of the prior art, the utility model provides a bomb-hanging vehicle with a six-degree-of-freedom lifting mechanism. Based on an electric-drive carrier platform, the bomb-hanging vehicle can carry ammunition and hang bombs on aircraft in a relatively small activity space. The bomb-hanging vehicle is easy to operate and has a high bomb-hanging efficiency. The bracket can perform six-degree-of-freedom movement, thereby enabling the bomb-hanging vehicle to have the ability to transport ammunition of various diameters.

[0005] To achieve the above-mentioned purpose, the utility model provides a bomb-hanging vehicle with a six-degree-of-freedom lifting mechanism, including an electric-driven carrying platform and a lifting mechanism arranged on the electric-driven carrying platform, a rotating mechanism is arranged on the top of the lifting mechanism, the rotating mechanism is rotatably connected with a tilting mechanism, the top of the tilting mechanism is telescopically connected with a translation mechanism, and the top of the translation mechanism is provided with a bracket for supporting ammunition; the translation mechanism includes an outer frame, a longitudinal inner frame and a transverse support plate, a longitudinal slide rail is arranged on the inner side of the longitudinal direction frame of the outer frame, which is used for slidingly connecting two longitudinal inner frames, and the two longitudinal inner frames slide in the same direction or in opposite directions along the longitudinal slide rail; a transverse slide rail is arranged on the inner side of the transverse direction frame of each longitudinal inner frame, which is used for slidingly connecting two transverse support plates, and the two transverse support plates slide in the same direction or in opposite directions along the transverse slide rail; the two transverse support plates on each of the longitudinal inner frames are respectively provided with two brackets that cooperate with each other.

[0006] Preferably, the electric-drive transport platform includes a frame, a front-wheel steering mechanism and a rear-wheel drive mechanism, and the front-wheel steering mechanism and the rear-wheel drive mechanism are respectively installed at the front and rear ends of the bottom of the frame; a power control box, an operating mechanism control box, a hydraulic oil pump motor, a hydraulic oil pump and a hydraulic oil tank are fixedly installed on the upper part of the frame, the power control box is provided with an operating button on the surface, and a main power switch and an emergency stop switch are provided inside; the operating mechanism control box is provided with an operating button on the surface, and a mechanism PLC module group and a buzzer are provided inside; the buzzer and the wiring terminals of the hydraulic oil pump motor are connected to the wiring terminals corresponding to the PLC module group; a power supply system is provided at the central position of the bottom of the frame, and the power supply system is electrically connected to the operating mechanism control box.

[0007] Preferably, the front-wheel steering mechanism comprises a front axle and a steering shaft, the front wheels are symmetrically mounted on the left and right ends of the front axle, a steering knuckle is arranged between the front axle and the steering shaft, one end of the steering knuckle is hinged to the front axle, and the other end is hinged to the telescopic shaft of the steering shaft, the sliding rack inside the steering shaft is gear-connected to the output shaft of the steering drive motor; the rear-wheel drive mechanism comprises a rear axle and a shock absorbing mechanism, the rear wheels are symmetrically mounted on the left and right ends of the rotating shaft inside the rear axle, the rear-wheel rotating drive motor is fixedly mounted at the central part of the rear axle, and the shock absorbing mechanism is gear-connected to the output shaft of the steering drive motor. The shock mechanism includes a shock absorber and a steel plate shock absorber. The upper end of the shock absorber and the steel plate shock absorber fixed support are respectively installed in the through holes at the lower part of the frame. The lower end of the shock absorber is connected to the inner fixing seat of the steel plate shock absorber upper pressure plate. The front and rear end ears of the steel plate shock absorber are hinged to the fixed support through pins. The middle part of the steel plate shock absorber is fixedly connected to the front and rear axles through the upper cover plate, the upper pressure plate and the lower support plate by U-bolts. The steering drive motor and the rear wheel rotation drive motor terminals are respectively connected to the corresponding terminals of the PLC module group.

[0008] Preferably, the lifting mechanism includes an upper mounting plate, a scissors arm and an action cylinder, a first scissors arm fixed support is provided on both sides of the front end of the bottom of the upper mounting plate and both sides of the front end of the upper part of the electric-driven carrying platform, a first slide rail groove is provided on both sides of the rear end of the bottom of the upper mounting plate and both sides of the rear end of the top of the electric-driven carrying platform, and a lifting limit column is provided at the midline of the left and right sides of the electric-driven carrying platform, and the installation positions of the lifting limit column, the scissors arm fixed support and the slide rail groove are symmetrically distributed on the left and right sides; the scissors arm includes a left scissors arm and a right scissors arm with the same structure, the left scissors arm and the right scissors arm are connected by a scissors arm connecting column, and are symmetrically arranged in the scissors arm fixed support and the slide rail groove on the upper mounting plate and the electric-driven carrying platform; the left scissors arm includes a first scissors arm, a second scissors arm, The third scissors arm and the fourth scissors arm, the middle of the first scissors arm and the second scissors arm are hinged to each other, the lower end of the first scissors arm is hinged to the scissors arm fixed support on the left side of the front of the lower mounting surface, the lower end of the second scissors arm is installed in the slide rail groove on the left side of the rear of the lower mounting surface after interference connection with the arm pulley, and can move forward and backward along the slide rail groove, the third scissors arm and the fourth scissors arm are hinged to each other in the middle, the lower end of the third scissors arm is hinged to the upper end of the first scissors arm, the lower end of the fourth scissors arm is hinged to the upper end of the second scissors arm, the upper end of the third scissors arm is hinged to the scissors arm fixed support on the left side of the front of the upper mounting plate, the upper end of the fourth scissors arm is installed in the slide rail groove on the left side of the rear end of the top surface of the upper mounting plate after interference connection with the arm pulley, and can move forward and backward along the slide rail in the slide rail groove.

[0009] Preferably, the action cylinder is arranged on the inner side of the two first scissors-type arms, the connecting base at the lower end of the cylinder body of the action cylinder is hinged to the scissors-type arm connecting column arranged at the lower end of the first scissors-type arm, the connecting base at the upper end of the piston rod of the action cylinder is hinged to the scissors-type arm connecting column arranged at the upper end of the fourth scissors-type arm, and the action cylinder is provided with a locking sleeve, and the inner diameter of the locking sleeve and the outer diameter of the piston rod of the action cylinder are interference fit connection, so as to realize self-locking of the action cylinder.

[0010] Preferably, the rotating mechanism includes a rotating self-locking oil cylinder, a ball support column and a rotating support plate. A hollow mounting groove is provided in the middle of the top surface of the upper mounting plate. The rotating oil self-locking oil cylinder is fixedly installed in the hollow mounting groove on the top surface of the upper mounting plate. A turntable is installed on the upper part of the rotating self-locking oil cylinder. The main shaft of the turntable is fixed to the corresponding holes of the rotating support plate through 12 axle pins. A circular guide rail is provided at the lower part of the rotating support plate. The bottom of the ball support column is fixed to the upper part of the upper mounting plate, and the top ball is embedded in the circular guide rail. When the rotating self-locking oil cylinder is working, it drives the turntable to rotate, and the turntable drives the rotating support plate to rotate along the circular guide rail under the support of the roller support column.

[0011] Preferably, the tilting mechanism includes a lifting self-locking cylinder and a base with a ball groove. Four lifting self-locking cylinders are provided and are respectively fixed at the four corners of the rotating support plate. The telescopic rod of the lifting self-locking cylinder adopts a ball head column, which is embedded in the corresponding circular groove of the base with a ball groove. The base with a ball groove is respectively fixedly mounted on the bottom of the outer frame of the translation mechanism, at a 45° angle to the frame edge of the outer frame. Every two of the four lifting self-locking cylinders are arranged as a synchronous group. When adjusting the tilting posture of the ammunition, the lifting self-locking cylinders work in pairs to adjust the tilting angle of the ammunition.

[0012] Preferably, two fixed seats are provided at the midline position of the bottom of the outer frame, and two turbine reduction stepper motors are symmetrically installed at the inner sides of the two fixed seats through the seat plates, and a deep groove ball bearing is installed at each of the openings of the two side frames of the same axis of the turbine reduction stepper motor and the fixed seat, and a plum blossom coupling and a deep groove ball bearing are installed inside the fixed seat, one side of the plum blossom coupling is installed on the driving shaft of the turbine reduction stepper motor, and the other side is installed with a longitudinal screw, both ends of the longitudinal screw are interference connected with the deep groove ball bearings on both sides, and the deep groove ball bearings rotate synchronously with the longitudinal screw and play a role in fixing the longitudinal screw, and the longitudinal screw and the longitudinal inner frame are arranged in a cross shape.

[0013] The cam is provided with a toothed plate, and the toothed plate is provided with a toothed plate, and the toothed plate is provided with a toothed plate, and the toothed plate is provided with a toothed plate, and the toothed plate is provided with a toothed plate, and the toothed plate is provided with a toothed plate, and the toothed plate is provided with a toothed plate, and the toothed plate is provided with a toothed plate, and the toothed plate is provided with a toothed plate, and the toothed plate is provided with a toothed plate,

[0014] Preferably, a sliding base is installed in the center of the bottom surface of the transverse support plate, and a screw nut is installed on one side of the sliding base to form a spiral pair with the transverse screw. Two rollers are installed on the opposite sides of the transverse support plate to enable the transverse support plate to move laterally along the direction of the longitudinal inner frame slide rail, and have the function of supporting the transverse support plate; a bracket is installed in the center of the top surface of the transverse support plate to support various types of ammunition, and the caliber enclosed by the bracket opens and contracts synchronously with the movement of the transverse support plate, and a buffer rubber sleeve is provided on the surface of the curved support part of the bracket.

[0015] Through the above technical scheme, it can be known that compared with the prior art, the bomb hanging vehicle provided by the utility model is based on an electric drive carrier platform, can carry ammunition and hang bombs on aircraft in a smaller activity space. The bomb hanging vehicle is easy to operate and has high bomb hanging efficiency. It can be controlled by a vehicle-mounted console or a handheld remote control, and an electronic control system and a hydraulic servo control system are applied. A hydraulic mechanism is used to realize the lifting and tilting functions, and a stepping motor is used to control the lead screw mechanism to realize the translation function, so that the bracket can be lifted and adjusted, the rotating support plate can be rotated, the left and right (front and back) tilted, the bracket can be opened, contracted, and the left (front) and right (shifted) six degrees of freedom are adjusted. The speed of each actuator (hydraulic cylinder) of the hydraulic system of the bomb hanging vehicle is changed by changing the speed of the servo motor to change the flow rate of the output hydraulic oil, which is steplessly and continuously adjustable. The action of the self-locking cylinder is a multi-way reversing valve that feeds back a signal to the PLC module. The PLC module receives the signal and controls the self-locking cylinder. The work efficiency is high, the whole process is intelligently controlled by a handheld remote control, the operation control is precise, and the application range is wide. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0017] Figure 1 The utility model is a schematic diagram of the overall structure of the bomb hanging vehicle with a six-degree-of-freedom lifting mechanism.

[0018] Figure 2 It is a schematic diagram of the structure of the electric drive carrier platform of the present utility model.

[0019] Figure 3 The utility model is a schematic diagram of the ammunition carrying vehicle.

[0020] Figure 4 The utility model is a schematic diagram of the lifting and lowering of ammunition mounted on the ammunition mounting vehicle.

[0021] Figure 5 It is a cross-sectional view of the rotating, tilting and translating lifting mechanism of the utility model.

[0022] Figure 6 It is a bottom view of the rotating mechanism of the utility model.

[0023] Figure 7 It is a top view schematic diagram of the translation lifting mechanism of the utility model.

[0024] Figure 8 This is a control block diagram of the intelligent control system of the utility model.

[0025] Fig. 9 It is a panel schematic diagram of the handheld remote controller of the present invention.

[0026] In the figure, 1-electrically driven transport platform; 2-lifting mechanism; 3-rotating mechanism; 4-tilting mechanism; 5-translation mechanism; 11-frame; 12-power control box; 13-operating mechanism control box; 14-hydraulic oil pump motor; 15-hydraulic oil pump; 16-hydraulic oil tank; 17-clearance lamp; 18-lifting limit column; 19-power supply system; 110-front wheel steering mechanism; 111-rear wheel driving mechanism; 113-scissor arm fixed support; 114-slide rail groove; 1101-front wheel; 1102-front axle; 1103-steering drive motor; 1104-steering shaft; 1105-steering knuckle; 1111-rear wheel; 1112-rear axle; 1113-rear wheel rotation drive motor; 1121-shock absorber; 1122-steel plate shock absorption; 21-upper mounting plate; 22-scissor arm; 23- Scissor arm connecting column; 24-acting cylinder; 25-arm pulley; 26-locking sleeve; 221-first scissor arm; 222-second scissor arm; 223-third scissor arm; 224-fourth scissor arm; 31-rotating self-locking cylinder; 32-turntable; 33-ball bearing column; 34-rotating support plate; 41-lifting self-locking cylinder; 42-base with ball groove; 51-outer frame; 52 -longitudinal inner frame; 53-turbine reduction stepper motor; 54-longitudinal lead screw; 55-transverse support plate; 56-transverse lead screw; 57-plum blossom coupling; 58-deep groove ball bearing; 59-sliding base; 541-lead screw nut; 511-bracket; 5111-buffer rubber sleeve; 512-roller; 513-longitudinal slide rail; 514-fixed seat; 5141-seat plate; 515-transverse slide rail. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] Please see attached Figure 1-9 , which is a bomb hanging vehicle with a six-degree-of-freedom lifting mechanism disclosed by the utility model.

[0029] like Figure 1 As shown, the bomb hanging vehicle with a six-degree-of-freedom lifting mechanism provided by the utility model includes an electric-driven carrying platform 1, a lifting mechanism 2, a rotating mechanism 3, a tilting mechanism 4, and a translation mechanism 5.

[0030] like Figure 2 , Fig. 9 As shown, the electric-drive carrying platform 1 includes a frame 11, a power control box 12, an operating mechanism control box 13, a hydraulic oil pump motor 14, a hydraulic oil pump 15, a hydraulic oil tank 16, a clearance lamp 17, a lifting limit column 18, a power supply system 19, a front wheel steering mechanism 110, a rear wheel driving mechanism 111, a shock absorbing mechanism 112, a scissor arm fixing support 113, a slide rail groove 114, and a handheld remote control (such as Fig. 9 shown).

[0031] A power control box 12 , an operating mechanism control box 13 , a hydraulic oil pump motor 14 , a hydraulic oil pump 15 , a hydraulic oil tank 16 , a scissor arm fixing support 113 , and a slide rail groove 114 are fixedly mounted on the upper part of the frame 11 .

[0032] The power control box 12 is provided with a manipulation button on its face, and a main power switch and an emergency stop switch are provided inside.

[0033] The operating mechanism control box 13 is equipped with operating buttons on its surface, and a mechanism PLC module group and a buzzer are installed inside. The wiring terminals of the buzzer and the hydraulic oil pump motor 14 are connected to the wiring terminals corresponding to the PLC module group. The handheld remote control is connected to the PLC module group through a wireless network. Each operating key on the handheld remote control sends a command to the PLC control module, and the PLC control module converts the command into an action command of the actuator; the PLC control module also processes the electrical signal sent by the sensor and converts it into an action command of the actuator to form a closed-loop control. When the remote control sends a moving command, the PLC control system controls the rear wheel drive mechanism 111 to drive the electric-driven carrier platform 1 to move.

[0034] The clearance lamps 17 are mounted on the front and rear outer walls of the vehicle frame 11 , and the lifting limit posts 18 are fixed at the front and rear center lines of the vehicle frame 11 .

[0035] The power supply system 19 is installed in the lower central position of the frame 11, and is mainly composed of a battery pack, a control box, a temperature sensor, a heating unit and a fan. The battery pack, the temperature sensor, the heating unit and the fan terminals are respectively connected to the corresponding terminals of the PLC module group. When the temperature sensor detects that the battery temperature is too high, the temperature sensor feeds back a signal to the PLC module group, and the PLC module group receives and processes the signal to control the start of the fan to achieve battery cooling. When the temperature sensor detects that the battery temperature is too low, the temperature sensor feeds back a signal to the PLC module group, and the PLC module group receives and processes the signal to control the start of the heating unit and the fan to achieve battery heating. The bomb-hanging vehicle is powered by lithium batteries, and the installation and fixing of the battery pack is designed to be a modular structure that can be quickly disassembled and assembled for easy maintenance. When the battery is low, an AC220V / 380V power supply can be used to quickly charge the battery.

[0036] The front wheel steering mechanism 110 and the rear wheel driving mechanism 111 mainly include a front wheel 1101, a front axle 1102, a steering drive motor 1103, a steering shaft 1104, a steering knuckle 1105, a rear wheel 1111, a rear axle 1112, and a rear wheel rotation drive motor 1113. The two front wheels 1101 are symmetrically installed on the left and right sides of the front axle 1102. One end of the steering knuckle 1105 is hinged to the front axle 1102, and the other end is hinged to the telescopic shaft of the steering shaft 1104. The output shaft of the steering drive motor 1103 is connected to the internal sliding rack of the steering shaft 1104. The rear wheels 1111 are symmetrically installed on the left and right sides of the internal rotating shaft of the rear axle 1107. The rear wheel rotation drive motor 111 is fixed to the central part of the rear axle.

[0037] The shock absorbing mechanism 112 mainly includes a shock absorber 1121 and a steel plate shock absorber 1122. The upper end of the shock absorber 1121 and the fixed support of the steel plate shock absorber 1122 are respectively installed in the through holes at the bottom of the frame 11, and the lower end of the shock absorber 1121 is connected to the fixed support inside the upper pressure plate of the steel plate shock absorber 1122. The front and rear end ears of the steel plate shock absorber 1122 are hinged to the fixed support through pins, and are fixedly connected to the front and rear axles through the upper cover plate, the upper pressure plate and the lower support plate by using the middle U-shaped bolt. The wiring terminals of the steering drive motor 1103 and the rear wheel rotation drive motor 1113 are respectively connected to the corresponding wiring terminals of the PLC module group.

[0038] like Figure 3 , Figure 4 As shown, the lifting mechanism 2 includes a lower mounting surface (that is, the frame 11 platform of the electric drive carrier platform 1), an upper mounting plate 21, a scissor arm 22, a scissor arm connecting column 23, an action cylinder 24, an arm pulley 25, and a locking sleeve 26.

[0039] The front part of the top surface of the lower mounting surface (i.e., the electric drive carrier platform 1, more precisely, the frame 11) is equipped with a scissor arm fixing support 113, and the rear part is equipped with a slide rail groove 114; the lower part of the upper mounting plate 21 and the lower mounting surface are symmetrically equipped with a scissor arm fixing support 113 and a slide rail groove 114; the lifting limit column 18 is fixed at the front and rear center line of the frame 11, and the lifting limit column 18, the scissor arm fixing support 113 and the slide rail groove 114 are fixed to the upper mounting plate 21. The installation positions are symmetrically distributed on the left and right sides; the scissor arms 22 are divided into a left scissor arm and a right scissor arm, and the left scissor arm includes a first scissor arm 221, a second scissor arm 222, a third scissor arm 223 and a fourth scissor arm 224; the first scissor arm 221 and the second scissor arm 222 are hinged to each other in the middle, and the lower end of the first scissor arm 221 is hinged to the scissor arm fixed support 113 on the left side of the lower installation surface; The lower end of the second scissor arm 222 is installed in the slide rail groove 114 on the left side of the rear lower mounting surface after interference fit with the arm pulley 25, and can move forward and backward along the slide rail groove 114; the middle of the third scissor arm 223 and the fourth scissor arm 224 are hinged to each other, the lower end of the third scissor arm 223 is hinged to the upper end of the first scissor arm 221, and the lower end of the fourth scissor arm 224 is hinged to the upper end of the second scissor arm 222; ... The upper end of the arm 223 is hinged to the left scissor arm fixed support 113 at the front of the upper mounting plate 21; the upper end of the fourth scissor arm 224 is installed in the left rear rail groove 114 of the upper mounting plate (21) after interference fit with the arm pulley 25, and can move forward and backward along the rail in the rail groove 114; the action cylinder 24 is provided with a locking sleeve 26, the inner diameter of which is interference fit with the outer diameter of the piston rod of the action cylinder 24, so that the self-locking of the action cylinder 24 can be achieved. When the oil from the hydraulic oil tank 16 enters the action cylinder 24 and enters the internal spiral groove of the locking sleeve 26, the piston rod in the action cylinder 24 can move freely under the action of the high-pressure hydraulic oil pressure; when the unlocking hydraulic oil is removed, the piston rod is immediately locked.

[0040] The left scissor arm and the right scissor arm have the same structure, are connected by a scissor arm connecting column 23, and are symmetrically arranged on the left and right sides of the lower mounting surface; an action cylinder 24 is arranged on the inner side of the first scissor arm 221, a connecting base on the cylinder body of the action cylinder 24 is hinged to the scissor arm connecting column 23 at the lower end of the first scissor arm 221, and a connecting base on the piston rod of the action cylinder 24 is hinged to the scissor arm connecting column 23 at the upper end of the fourth lifting arm 224;

[0041] like Figure 5 , Figure 6 As shown, the rotating mechanism 3 includes a rotating self-locking cylinder 31 , a rotating disk 32 , a ball support column 33 , and a rotating support plate 34 .

[0042] The rotating oil self-locking cylinder 31 is fixed to the hollow mounting position of the mounting plate 21 on the lifting mechanism 2, and a turntable 32 is installed on the upper part of the rotating self-locking cylinder 31. The main shaft of the turntable 32 and 12 axle pins are fixed to the corresponding holes of the rotating support plate 34; a circular guide rail 341 is arranged at the lower part of the rotating support plate 34, and the bottom of the 8 ball support columns 33 is fixed to the upper part of the upper mounting plate 21, and the top ball is embedded in the circular guide rail 341; Figure 6 As shown, when the rotary self-locking cylinder 31 works, it drives the turntable 32 to rotate, and the turntable 32 drives the rotary support plate 34 to rotate along the circular guide rail 341 under the support of the roller support column 33.

[0043] like Figure 5 As shown, the tilting mechanism 4 includes a lifting self-locking cylinder 41 and a base 42 with a ball groove. The four lifting self-locking cylinders 41 are respectively fixed at the four corners of the rotating support plate 34, and the telescopic rods of the lifting self-locking cylinders 41 are ball-headed columns, which are embedded in the corresponding circular grooves of the base 42 with a ball groove. The bases 42 with ball grooves are respectively fixedly mounted at the bottom of the outer frame 51 of the translation mechanism 5, and are 45° with the frame edge of the outer frame 51. Every two of the four lifting self-locking cylinders 41 are set as a synchronous group. When the posture of the ammunition needs to be tilted and adjusted, the lifting self-locking cylinders 41 work in pairs to achieve micro-tilting of the ammunition.

[0044] like Figure 8 As shown, the above-mentioned action cylinder 24, the rotation self-locking cylinder 31, and the lifting self-locking cylinder 41 can be connected through a multi-way reversing valve and a PLC module group. The PLC module group is connected to a relay, and the relay is connected to a multi-way reversing valve. After receiving the instruction of the PLC module group, the relay controls the multi-way reversing valve, thereby controlling the action of each cylinder to realize the lifting, rotation and tilting of the mechanism. The hydraulic oil pump 15 supplies oil to all cylinders, and the hydraulic oil pump motor 14 provides power.

[0045] like Figure 5 , Figure 7 As shown, the translation mechanism 5 includes an outer frame 51, a longitudinal inner frame 52, a turbine reduction stepper motor 53, a longitudinal lead screw 54, a transverse support plate 55, a transverse lead screw 56, a plum blossom coupling 57, a deep groove ball bearing 58, a sliding base 59, a lead screw nut 541, a bracket 511, a roller 512, a longitudinal slide rail 513, a fixed seat 514, a seat plate 5141, a transverse slide rail 515, and a buffer rubber sleeve 5111.

[0046] Two fixed seats 514 are arranged at the center line of the bottom of the outer frame 51. Two turbine reduction stepper motors 53 are symmetrically installed at the inner side of the two fixed seats 514 through the seat plate 5141. A deep groove ball bearing 58 is installed at each of the two side frame openings on the same axis as the fixed seat 514. A plum blossom coupling 57 and a deep groove ball bearing 58 are installed inside the fixed seat 514. The driving shaft of the turbine reduction stepper motor 53 is installed on one side of the plum blossom coupling 57, and the longitudinal moving lead screw 54 is installed on the other side. The two ends of the longitudinal moving lead screw 54 are interference fit with the deep groove ball bearings 58 on both sides. The deep groove ball bearings 58 rotate synchronously with the longitudinal moving lead screw 54 and also play the role of fixing the longitudinal moving lead screw 54. A longitudinal moving slide rail 513 is arranged inside the longitudinal moving direction frame of the outer frame 51 for sliding the longitudinal moving inner frame 52. The two longitudinal moving inner frames 52 slide in the same direction or opposite directions along the longitudinal moving slide rail 513. The longitudinal moving inner frame 52 and the longitudinal moving lead screw 54 are arranged in a cross shape.

[0047] A sliding base 59 is installed at the center of the lower side of the longitudinal inner frame 52, and a lead screw nut 541 is installed on one side of the sliding base 59, which forms a screw pair with the longitudinal lead screw 54; wheel axles are provided on the side frames of the longitudinal inner frame 52 in the longitudinal direction, and two rollers 512 are installed on each wheel axle, so that the longitudinal inner frame 52 can slide along the longitudinal slide rail 513 of the outer frame 51, and has the function of supporting the longitudinal inner frame 52; a transverse slide rail 515 is provided on the inner side of the frame of each longitudinal inner frame 52 in the transverse direction, which is used to slide and connect two transverse support plates 55, and the two transverse support plates 55 slides in the same direction or opposite direction along the transverse slide rail 515; two fixed seats 514 are arranged at the bottom center line of the longitudinal inner frame 52, and two turbine reduction stepper motors 53 are symmetrically installed at the inner side of the two fixed seats 514 through the seat plate 5141. A deep groove ball bearing 58 is installed at the opening of the frame on both sides of the same axis as the fixed seat 514, and a plum blossom coupling 57 and a deep groove ball bearing 58 are installed inside each fixed seat 514. The drive shaft of the turbine reduction stepper motor 53 is installed on one side of the plum blossom coupling 57, and the transverse lead screw 56 is installed on the other side. The two ends of the transverse lead screw 56 are interference fit with the deep groove ball bearings 58 on both sides. The deep groove ball bearings 58 rotate synchronously with the transverse lead screw 56 and also play the role of fixing the transverse lead screw 56. A transverse slide rail 515 is arranged on the inner side of the frame in the transverse direction of the longitudinal inner frame 52, which is used for the sliding of the transverse support plate 55; the transverse support plate 55 and the transverse lead screw 56 are arranged in a cross shape.

[0048] A sliding base 59 is installed at the center of the bottom surface of the transverse support plate 55, and a lead screw nut 541 is installed on one side of the sliding base 59, forming a screw pair with the transverse lead screw 56; two rollers 512 are installed on each side to enable the transverse support plate 55 to move laterally along the transverse slide rail 515 of the longitudinal inner frame 52, and have the function of supporting the transverse support plate 55; two brackets 511 that cooperate with each other are respectively arranged at the center of the top surface of the two transverse support plates 55 on each longitudinal inner frame 52, which are used to support various types of ammunition. The bracket 511 opens and contracts synchronously with the movement of the transverse support plate 55, which can meet the transportation and mounting of ammunition of different calibers. The bracket 511 is integrally formed of low-carbon alloy steel material, and the surface of the curved support part is respectively provided with a buffer rubber sleeve 5111 to prevent scratches and damage to the surface of the ammunition.

[0049] The turbine reduction stepper motor 53 is connected to the relay, the relay is connected to the PLC module group, the relay receives the control system command of the PLC module group, controls the turbine reduction stepper motor 53 to drive the lead screw to rotate clockwise or counterclockwise through forward or reverse transmission, so that the longitudinal inner frame 52 and the transverse support plate 55 can move symmetrically, and move longitudinally and transversely as a whole, so as to realize the opening, contraction and synchronous left (forward) and right (movement) of the bracket 511, and the turbine reduction stepper motor 52 and the lead screw nut have a self-locking function.

[0050] It should be noted that the whole vehicle of the utility model is made of alloy rectangular steel frame welding, and the working principle of the utility model is:

[0051] When the ammunition carrier is carrying ammunition, the main power of the control box is turned on, and the turbine reduction stepping motor 53 of the translation mechanism 5 is controlled by the control box or the handheld remote control to rotate, driving the longitudinal inner frame 52 and the transverse support plate 55 to move, and the bracket 511 moves with the longitudinal inner frame 52 and the transverse support plate 55 to a position that meets the diameter of the ammunition being carried. Fig. 9 As shown in the figure, a signal is sent to the rear wheel drive mechanism 111, and the rear wheel drive mechanism 111 receives and processes the signal to control the direction and speed of rotation of the rear wheel 1111, and manipulates the bomb hanging vehicle to move to the designated bomb hanging position of the aircraft. According to the position of the ammunition and the bomb hanging rack, the rotating self-locking cylinder 31 is controlled by a handheld remote control to produce a rotational motion, so that the turntable 32 rotates, and the rotating support plate 34 is driven to rotate, and the rotating support plate 34 can rotate within a range. At the same time, the tilting mechanism 4 and the lifting mechanism 2 are controlled by a handheld remote control. When the hydraulic servo system drives the lifting self-locking cylinder 41 and the actuating cylinder 24 to extend and retract, the two groups of tilting and lifting self-locking cylinders 41 and the actuating cylinder 24 respectively drive the outer frame 51 and the scissor-type support arm 22 to complete the tilting and lifting movements. The above-mentioned actions are used in combination to complete the loading and hanging of ammunition, as shown in the figure. Figure 4In summary, the above mechanism can be controlled by a vehicle-mounted console or a handheld remote control, and the electronic control system and the hydraulic servo control system are applied to realize six degrees of freedom adjustment, including lifting adjustment, rotation of the rotating support plate 34, left and right (front and back) tilting, opening, contraction, left (front) and right (shift) of the bracket 511.

[0052] The speed of each actuator (hydraulic cylinder) of the vehicle's hydraulic system is continuously adjustable by changing the speed of the servo motor to change the flow of the output hydraulic oil. The action of the self-locking cylinder is fed back by the multi-way reversing valve to the PLC module, and the PLC module receives the signal and controls the self-locking cylinder.

[0053] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A bomb hanging vehicle with a six-degree-of-freedom lifting mechanism, characterized in that: The invention comprises an electric-driven transport platform (1) and a lifting mechanism (2) arranged on the electric-driven transport platform (1), wherein a rotating mechanism (3) is arranged on the top of the lifting mechanism (2), wherein the rotating mechanism (3) is rotatably connected to a tilting mechanism (4), wherein the top of the tilting mechanism (4) is telescopically connected to a translation mechanism (5), and the top of the translation mechanism (5) is provided with a bracket (511) for supporting ammunition; The translation mechanism (5) comprises an outer frame (51), a longitudinal inner frame (52) and a transverse support plate (55); a longitudinal slide rail (513) is arranged on the inner side of the frame in the longitudinal direction of the outer frame (51) for slidably connecting the two longitudinal inner frames (52); the two longitudinal inner frames (52) slide in the same direction or in opposite directions along the longitudinal slide rail (513); a transverse slide rail (515) is arranged on the inner side of the frame in the transverse direction of each longitudinal inner frame (52) for slidably connecting the two transverse support plates (55); the two transverse support plates (55) slide in the same direction or in opposite directions along the transverse slide rail (515); and two brackets (511) that cooperate with each other are respectively arranged on the two transverse support plates (55) on each longitudinal inner frame (52).

2. The bomb hanging vehicle with a six-degree-of-freedom lifting mechanism according to claim 1, characterized in that: The electric-drive carrying platform (1) comprises a vehicle frame (11), a front-wheel steering mechanism (110) and a rear-wheel driving mechanism (111); the front-wheel steering mechanism (110) and the rear-wheel driving mechanism (111) are respectively mounted at the front and rear ends of the bottom of the vehicle frame (11); A power control box (12), an operating mechanism control box (13), a hydraulic oil pump motor (14), a hydraulic oil pump (15) and a hydraulic oil tank (16) are fixedly mounted on the top of the vehicle frame (11); the power control box (12) is provided with an operating button on the surface, and a main power switch and an emergency stop switch are provided inside; the operating mechanism control box (13) is provided with an operating button on the surface, and a mechanism PLC module group and a buzzer are provided inside; the buzzer and the hydraulic oil pump motor (14) are connected to the wiring terminals corresponding to the PLC module group; a power supply system (19) is provided at the central position of the bottom of the vehicle frame (11); the power supply system (19) is electrically connected to the operating mechanism control box (13).

3. The bomb hanging vehicle with a six-degree-of-freedom lifting mechanism according to claim 2, characterized in that: The front wheel steering mechanism (110) comprises a front axle (1102) and a steering shaft (1104); front wheels (1101) are symmetrically mounted on the left and right ends of the front axle (1102); a steering knuckle (1105) is arranged between the front axle (1102) and the steering shaft (1104); one end of the steering knuckle (1105) is hinged to the front axle (1102), and the other end is hinged to the telescopic shaft of the steering shaft (1104); the internal sliding rack of the steering shaft (1104) is gear-connected to the output shaft of the steering drive motor (1103); The rear wheel drive mechanism (111) comprises a rear axle (1107) and a shock absorbing mechanism (112); rear wheels (1111) are symmetrically mounted at the left and right ends of the internal rotating shaft of the rear axle (1107); a rear wheel rotating driving motor (1113) is fixedly mounted at the central portion of the rear axle (1107); the shock absorbing mechanism (112) comprises a shock absorber (1121) and a steel plate shock absorber (1122); the upper end of the shock absorber (1121) and the fixed support of the steel plate shock absorber (1122) are respectively mounted on the vehicle frame. The lower end of the shock absorber (1121) is connected to the inner fixing seat of the upper pressure plate of the steel plate shock absorber (1122) in the through hole at the bottom. The front and rear ends of the steel plate shock absorber (1122) are hinged to the fixing support through pins. The middle part of the steel plate shock absorber (1122) is fixedly connected to the front and rear axles through the upper cover plate, the upper pressure plate and the lower support plate by U-bolts. The wiring terminals of the steering drive motor (1103) and the rear wheel rotation drive motor (1113) are respectively connected to the corresponding wiring terminals of the PLC module group.

4. The bomb hanging vehicle with a six-degree-of-freedom lifting mechanism according to claim 1, characterized in that: The lifting mechanism (2) comprises an upper mounting plate (21), a scissor arm (22) and an actuating cylinder (24); first scissor arm fixing supports (113) are provided on both sides of the front end of the bottom of the upper mounting plate (21) and both sides of the front end of the upper part of the electric-driven transport platform (1); first slide rail grooves (114) are provided on both sides of the rear end of the bottom of the upper mounting plate (21) and both sides of the rear end of the top of the electric-driven transport platform (1); lifting limit columns (18) are provided at the midline of the left and right sides of the electric-driven transport platform (1); the installation positions of the lifting limit columns (18), the scissor arm fixing supports (113) and the slide rail grooves (114) are symmetrically distributed on the left and right sides; The scissor arm (22) comprises a left scissor arm and a right scissor arm of identical structure, the left scissor arm and the right scissor arm being connected via a scissor arm connecting column (23), and being symmetrically arranged in a scissor arm fixing support (113) and a slide rail groove (114) on the upper mounting plate (21) and the electric drive carrying platform (1); The left scissor support arm comprises a first scissor support arm (221), a second scissor support arm (222), a third scissor support arm (223) and a fourth scissor support arm (224); the first scissor support arm (221) and the second scissor support arm (222) are hinged to each other in the middle; the lower end of the first scissor support arm (221) is hinged to a scissor support arm fixing support (113) on the left side of the front of the lower mounting surface; the lower end of the second scissor support arm (222) is installed in a slide rail groove (114) on the left side of the rear of the lower mounting surface after being interference-connected with an arm pulley (25) and can move forward and backward along the slide rail groove (114); the third scissor support arm (223) is hinged to the left side of the rear of the lower mounting surface; ) and the middle of the fourth scissor arm (224) are hinged to each other, the lower end of the third scissor arm (223) is hinged to the upper end of the first scissor arm (221), the lower end of the fourth scissor arm (224) is hinged to the upper end of the second scissor arm (222), the upper end of the third scissor arm (223) is hinged to the scissor arm fixing support (113) on the left side of the front of the upper mounting plate (21), the upper end of the fourth scissor arm (224) is installed in the slide rail groove (114) on the left side of the rear end of the top surface of the upper mounting plate (21) after interference connection with the arm pulley (25), and can move forward and backward along the slide rail in the slide rail groove (114).

5. The bomb hanging vehicle with a six-degree-of-freedom lifting mechanism according to claim 4, characterized in that: The action cylinder (24) is arranged on the inner side of the two first scissor-type support arms (221); the connection base at the lower end of the cylinder body of the action cylinder (24) is hinged to the scissor-type support arm connection column (23) arranged at the lower end of the first scissor-type support arm (221); the connection base at the upper end of the piston rod of the action cylinder (24) is hinged to the scissor-type support arm connection column (23) arranged at the upper end of the fourth scissor-type support arm (224); the action cylinder (24) is provided with a locking sleeve (26); the inner diameter of the locking sleeve (26) and the outer diameter of the piston rod of the action cylinder (24) are interference-connected, so as to realize self-locking of the action cylinder (24).

6. The bomb hanging vehicle with a six-degree-of-freedom lifting mechanism according to claim 4, characterized in that: The rotating mechanism (3) comprises a rotating self-locking oil cylinder (31), a ball support column (33) and a rotating support plate (34); a hollow mounting groove is provided in the middle of the top surface of the upper mounting plate (21); the rotating oil self-locking oil cylinder (31) is fixedly installed in the hollow mounting groove on the top surface of the upper mounting plate (21); a rotating disk (32) is installed on the upper part of the rotating self-locking oil cylinder (31); the main shaft of the rotating disk (32) is fixed to the rotating support plate (34) through 12 shaft pins. ) in a corresponding hole, a circular guide rail (341) is arranged at the lower part of the rotating support plate (34), the bottom of the ball support column (33) is fixed to the upper part of the upper mounting plate (21), and the top ball is embedded in the circular guide rail (341). When the rotating self-locking cylinder (31) is working, it drives the turntable (32) to rotate, and the turntable (32) drives the rotating support plate (34) to rotate along the circular guide rail (341) under the support of the roller support column (33).

7. The bomb hanging vehicle with a six-degree-of-freedom lifting mechanism according to claim 1, characterized in that: The tilting mechanism (4) comprises a lifting self-locking oil cylinder (41) and a base with a ball groove (42). The lifting self-locking oil cylinder (41) is provided with four and is respectively fixed at the four corners of the rotating support plate (34). The telescopic rod of the lifting self-locking oil cylinder (41) adopts a ball head column and is embedded in the corresponding circular groove of the base with a ball groove (42). The base with a ball groove (42) is respectively fixedly mounted on the bottom of the outer frame (51) of the translation mechanism (5) and is 45 degrees with the frame edge of the outer frame (51). Every two of the four lifting self-locking oil cylinders (41) are arranged as a synchronous group. When adjusting the tilting posture of the ammunition, the lifting self-locking oil cylinders (41) work in pairs to adjust the tilting angle of the ammunition.

8. The bomb-hanging vehicle with a six-degree-of-freedom lifting mechanism according to claim 1, characterized in that: Two fixed seats (514) are arranged at the midline position of the bottom of the outer frame (51), and two turbine reduction stepper motors (53) are symmetrically installed at the inner positions of the two fixed seats (514) through seat plates (5141). A deep groove ball bearing (58) is installed at the openings of the frame on both sides of the same axis of the turbine reduction stepper motor (53) and the fixed seat (514). A plum blossom coupling (57) and a deep groove ball bearing (58) are installed inside the fixed seat (514). One side of the plum blossom coupling (57) is installed on the driving shaft of the turbine reduction stepper motor (53), and the other side is installed with a longitudinal movement screw (54). The two ends of the longitudinal movement screw (54) are interference-connected with the deep groove ball bearings (58) on both sides. The deep groove ball bearing (58) rotates synchronously with the longitudinal movement screw (54) and plays a role in fixing the longitudinal movement screw (54). The longitudinal movement screw (54) and the longitudinal movement inner frame (52) are arranged in a cross shape.

9. The bomb hanging vehicle with a six-degree-of-freedom lifting mechanism according to claim 8, characterized in that: A sliding base (59) is installed at the center of the lower side of the longitudinal moving inner frame (52), a lead screw nut (541) is installed on one side of the sliding base (59), and the lead screw nut (541) and the longitudinal moving lead screw (54) form a screw pair. Wheel axles are arranged on the side frames of the longitudinal moving inner frame (52) in the longitudinal moving direction, and two rollers (512) are respectively installed on the wheel axles to enable the longitudinal moving inner frame (52) to slide along the slide rails (513) of the outer frame (51), and the rollers (512) have the function of supporting the longitudinal moving inner frame (52). Two fixed seats (514) are arranged at the center line position of the bottom of the longitudinal moving inner frame (52), and the two turbine reduction stepping motors (53) The base plate (5141) is symmetrically mounted on the inner side of the two fixed seats (514), and a deep groove ball bearing (58) is installed at the opening of the frame on both sides of the axis of the fixed seat (514). A plum blossom coupling (57) and a deep groove ball bearing (58) are installed inside the fixed seat (514). The drive shaft of the turbine reduction stepper motor (53) is installed on one side of the plum blossom coupling (57), and the transverse screw (56) is installed on the other side. The two ends of the transverse screw (56) are interference-connected with the deep groove ball bearings (58) on both sides. The deep groove ball bearing (58) rotates synchronously with the transverse screw (56) and plays a role in fixing the transverse screw (56).

10. The bomb hanging vehicle with a six-degree-of-freedom lifting mechanism according to claim 1, characterized in that: A sliding base (59) is installed at the center of the bottom surface of the transverse moving support plate (55), a lead screw nut (541) is installed on one side of the sliding base (59), and a screw pair is formed with the transverse moving lead screw (56), and two rollers (512) are installed on the opposite sides of the transverse moving support plate (55) to enable the transverse moving support plate (55) to move laterally along the direction of the slide rail (513) of the longitudinal moving inner frame (52), and have the function of supporting the transverse moving support plate (55); A bracket (511) is installed at the center of the top surface of the transverse support plate (55) for supporting various types of ammunition. The caliber surrounded by the bracket (511) opens and contracts synchronously with the movement of the transverse support plate (55). A buffer rubber sleeve (5111) is provided on the surface of the curved support part of the bracket (511).

Images