An automatic levelling launcher

Abstract

The application discloses an automatic leveling launcher, which comprises a launcher body, the launcher body comprises a chassis and a launching arm connected in rotation, the launching arm can carry a rocket body, and a first electric cylinder drives the launching arm to rotate relative to the chassis; a leveling support is arranged on the chassis and can carry the rocket body when the launching arm is switched to a vertical state, the leveling support comprises a support platform, a plurality of second electric cylinders are arranged at the bottom of the support platform, and a plurality of inclination sensors are arranged on the side wall of the support platform and can detect the inclination degree of the support platform; by arranging the first electric cylinder and the second electric cylinders, high temperature and high heat generated when the rocket body is launched can be borne, compared with a hydraulic system, hydraulic oil leakage can be avoided, cost is saved, complex environmental conditions can be adapted, the reliability of launching equipment is ensured, meanwhile, the leveling support can ensure the vertical posture of the rocket body before launching, and the success rate of launching is improved.

Description

Technical Field

[0001] This disclosure relates to the field of aerospace equipment technology, specifically to an automatic leveling launcher. Background Technology

[0002] In recent years, space launch technology has developed rapidly. As the core equipment in a space launch system, the design and performance of the launch pad's erection mechanism directly affect the success or failure of a launch mission. Currently, the erection mechanisms of launch pads both domestically and internationally mainly adopt a hydraulic drive system.

[0003] Hydraulic launchers are typically driven by hydraulic pumps and cylinders to perform attitude adjustments of the rocket body before launch. Although hydraulic systems have a large load-bearing capacity and a high level of automation, they are sensitive to environmental conditions and susceptible to temperature changes and hydraulic oil leaks. This makes the hydraulic system less stable in complex environments and prone to erection failure due to hydraulic oil leaks or temperature changes, affecting the reliability of the launch equipment. Utility Model Content

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an automatic leveling launcher.

[0005] In a first aspect, this application provides an automatic leveling launcher, comprising: The launcher body includes a base frame and a launch arm that are rotatably connected, the launch arm being used to support the rocket body; A first electric cylinder is used to drive the launch arm to rotate relative to the base frame, so that the launch arm can switch between a horizontal state and a vertical state. The first electric cylinder has a first connecting end and a first telescopic end. The first connecting end is rotatably connected to the base frame, and the first telescopic end is rotatably connected to the launch arm. A leveling bracket is fixedly mounted on the base frame and is used to support the rocket body when the launch arm is switched to a vertical position. The leveling bracket includes a support platform, on which multiple second electric cylinders are evenly arranged circumferentially at the bottom and multiple tilt sensors are evenly arranged circumferentially on the sidewalls of the support platform to detect the tilt of the support platform and control the second electric cylinders to adjust the support platform to a horizontal position.

[0006] According to the technical solution provided in the embodiments of this application, the leveling bracket includes a base, the base is fixedly mounted on the base frame, and the top of the base is fixedly provided with a plurality of ball sockets corresponding to a plurality of second electric cylinders; The second electric cylinder has a second connecting end and a second telescopic end. The second connecting end is connected to the bottom of the support platform, and the second telescopic end is provided with a ball head that is adapted to the ball socket seat.

[0007] According to the technical solution provided in the embodiments of this application, a support base is fixedly provided on the top of the base frame. The support base includes a support base body. A rotating shaft groove and a rotating shaft pressure seat are provided on the top of the support base body. A pressing space is formed between the rotating shaft groove and the rotating shaft pressure seat. One end of the launching arm is the first end, and the first end is rotatably provided with a first rotating shaft. The first rotating shaft is disposed in the pressing space, and the rotating shaft pressure seat is also provided with an exhaust hole for discharging air from the pressing space when it presses the first rotating shaft.

[0008] According to the technical solution provided in the embodiments of this application, a bullet deflector is detachably provided on the side wall of the first end away from the base frame. The bullet deflector is used to connect the tail of the rocket body when the launch arm carries the rocket body. The top of the support platform is screwed with multiple rocket body parking legs, which are used to connect the projectile deflector when the launch arm is switched to the vertical position, and the tilt of the projectile deflector can be adjusted by rotating the rocket body parking legs to ensure that the rocket body is in a vertical position.

[0009] According to the technical solution provided in the embodiments of this application, the launch arm is provided with a slide rail extending along its length on the side wall away from the base frame, and is movably connected to an electric release mechanism, an electric clamping mechanism and a support bracket mechanism. The electric release mechanism, the electric clamping mechanism, and the support bracket mechanism are all adjusted to their positions on the launch arm via a sliding limit assembly; Both the electric clamping mechanism and the support bracket mechanism are adjusted relative to the rocket body via lifting and adjusting components, and the electric release mechanism is used for electrical separation of the rocket body.

[0010] According to the technical solution provided in the embodiments of this application, the sliding limiting component includes: A movable base plate, wherein a slider adapted to the slide rail is fixedly installed on the side wall of the movable base plate near the launch arm, and a fixing block is also fixedly installed on the side wall of the movable base plate near the launch arm; A locking block, on which a first screw is rotatably mounted, and one end of the first screw is screwed into a fixed block; a first guide rod that can slide through the locking block is fixedly mounted on the side wall of the movable base plate near the locking block; The locking block is provided with a locking handle, one end of which extends into the locking block to abut against the first screw and prevent the first screw from rotating. The locking block has a first locking hole that extends through it along a direction perpendicular to the launching arm. The launching arm has a plurality of second locking holes that are evenly arranged along its length. The locking member extends through the first locking hole into the second locking hole to lock the locking block.

[0011] According to the technical solution provided in the embodiments of this application, the lifting and adjusting component includes: The elevator includes a housing, which is fixedly mounted on the side wall of the movable base plate away from the launch arm. The housing is provided with a cooperating worm gear and worm. The worm gear has a ring structure, and its inner ring is coaxially threaded with a second screw. A connector is fixedly mounted on the end of the second screw away from the launch arm. The elevator is provided with at least two, and the worm gears in the at least two elevators are connected in series by a connecting rod. One end of the worm gear in one of the elevators extends to the outside of the housing and is connected to a handwheel; A linear guide bearing is fixedly mounted on the side wall of the movable base plate away from the launching arm. An optical axis is slidably connected inside the linear guide bearing, and an optical axis support is fixedly connected to the end of the optical axis away from the launching arm.

[0012] According to the technical solution provided in the embodiments of this application, the electric clamping mechanism includes: The first support part is fixedly connected to the connecting piece and the optical axis support seat corresponding to the electric clamping mechanism, and a clamping support block is fixedly provided on the first support part. The clamping jaws are two in number and are symmetrically and rotatably disposed at both ends of the clamping support block. A linkage push rod assembly is provided, with its two ends rotatably connected to the two clamping jaws respectively. The linkage push rod assembly is driven by a first driving component to open or close the clamping jaws.

[0013] According to the technical solution provided in the embodiments of this application, the support mechanism includes: The second support part is fixedly connected to the connecting piece and the optical axis support seat corresponding to the support support mechanism. A third screw is rotatably provided inside the second support part. One end of the third screw extends to the outside of the second support part and is coaxially fixedly connected to a handwheel. The third support part is used to support the rocket body. The third support part is provided with a movable block, which is movably disposed in the second support part and screwed to the third screw.

[0014] According to the technical solution provided in the embodiments of this application, the electric release mechanism includes: The plug-in part has a detachable plug, and a connecting block is fixedly provided on the side wall of the plug-in part; The second driving component is fixedly mounted on the side wall of the movable base plate corresponding to the electric release mechanism away from the launching arm. The driving end of the second driving component is coaxially fixedly connected to a fourth screw, and the fourth screw is screwed to the connecting block. A guide assembly for preventing the insertion portion from rotating.

[0015] In summary, this technical solution specifically discloses an automatic leveling launcher, including a launcher body. The launcher body includes a rotatably connected base frame and a launch arm. The launch arm is used to support the rocket body. A first electric cylinder is used to drive the launch arm to rotate relative to the base frame, so that the launch arm can switch between a horizontal state and a vertical state. The first electric cylinder has a first connecting end and a first telescopic end, which are rotatably connected to the base frame and the launch arm, respectively. A leveling bracket is also provided on the base frame, which can support the rocket body when the launch arm is switched to a vertical state. The leveling bracket includes a support platform. Multiple second electric cylinders are provided at the bottom of the support platform, and multiple tilt sensors are provided on the side wall of the support platform. The tilt sensors are used to detect the degree of tilt of the support platform. By setting up a first and a second electric cylinder, the system can withstand the high temperatures and heat generated during rocket launch. Compared with the hydraulic systems commonly used in existing technologies, this system can avoid hydraulic oil leakage, save costs, adapt to complex environmental conditions, and ensure the reliability of the launch equipment. At the same time, by setting up an adjustable leveling bracket and detecting its status through an tilt sensor, the vertical attitude of the rocket body before launch can be ensured, thereby improving the launch success rate. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of an automatic leveling launcher.

[0017] Figure 2 This is a side view of an automatic leveling launcher.

[0018] Figure 3 This is a schematic diagram of the base frame.

[0019] Figure 4 This is a schematic diagram of the leveling bracket.

[0020] Figure 5 Side view of the leveling bracket.

[0021] Figure 6 This is a schematic diagram of the sliding limit component.

[0022] Figure 7 This is a schematic diagram of the lifting and adjusting assembly.

[0023] Figure 8 This is a schematic diagram of an electric clamping mechanism.

[0024] Figure 9 This is a schematic diagram of the first support section.

[0025] Figure 10 This is a schematic diagram of the linkage push rod assembly.

[0026] Figure 11 This is a schematic diagram of the drive nut sleeve.

[0027] Figure 12 This is a schematic diagram of the fine-tuning component.

[0028] Figure 13 A schematic diagram of the supporting mechanism.

[0029] Figure 14 This is a schematic diagram of the electric release mechanism.

[0030] Labels in the diagram: 1. Base frame; 2. Launch arm; 3. First electric cylinder; 4. Leveling bracket; 5. Support platform; 6. Second electric cylinder; 7. Tilt sensor; 8. Base; 9. Support body; 10. Rotary shaft pressure seat; 11. First rotating shaft; 12. Exhaust port; 13. Bullet deflector; 14. Rocket body parking support leg; 15. Slide rail; 16. Electric release mechanism; 17. Electric clamp mechanism; 18. Support bracket mechanism; 19. Moving base plate; 20. Slider; 21. Fixing block; 22. Locking block; 23. First screw; 24. First guide rod; 25. Locking handle; 26. First locking hole; 27. Elevator; 28. Second screw; 29. ​​Connecting rod; 30. Handwheel; 31. Linear guide bearing; 32. Optical axis; 33. Optical axis support seat; 34. First support part; 5. Clamp support block; 36. Clamp gripper; 37. First drive component; 38. Second support part; 39. Third support part; 40. Insertion part; 41. Connecting block; 42. Second drive component; 43. Flow guide; 44. Rotating handle; 45. Clamp base plate; 46. Clamp support plate; 47. Clamp upright plate; 48. Clamp lifting push rod; 49. Gripper push rod; 50. Gripper drive shaft; 51. Drive rod shaft; 52. Second guide rod; 53. Auxiliary electric cylinder; 54. Drive nut sleeve; 55. Gripper rotating shaft; 56. Sensor mounting base; 57. Rocket fixing block; 58. Limit switch; 59. Adapter seat; 60. Transverse sliding seat; 61. Moving slide; 62. Adjusting shaft; 63. Adjusting nut rod; 64. Rocket support block; 65. Fixed support plate; 66. Fourth guide rod. Detailed Implementation

[0031] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] Example 1 Please refer to Figure 1 and Figure 2 An automatic leveling launcher, comprising: The launcher body includes a rotatably connected base frame 1 and a launch arm 2, the launch arm 2 being used to support the rocket body; The first electric cylinder 3 is used to drive the launch arm 2 to rotate relative to the base frame 1 so that the launch arm can switch between a horizontal state and a vertical state. The first electric cylinder 3 has a first connecting end and a first telescopic end. The first connecting end is rotatably connected to the base frame, and the first telescopic end is rotatably connected to the launch arm 2. The leveling bracket 4 is fixedly mounted on the base frame 1 and is used to support the rocket body when the launch arm 2 is switched to the vertical position. The leveling bracket 4 includes a support platform 5, on which multiple second electric cylinders 6 are evenly arranged circumferentially at the bottom, and multiple tilt sensors 7 (such as...) are evenly arranged on the circumferential sidewalls of the support platform 5. Figure 5 The tilt sensor 7 is used to detect the degree of tilt of the support platform 5; Among them, the base frame 1 is parallel to the first direction, which is a horizontal direction. In the initial state, the launch arm 2 is parallel to the base frame 1. When the first electric cylinder 3 drives the launch arm 2 to unfold, the launch arm 2 is parallel to the second direction, which is a vertical direction and perpendicular to the first direction. The electric cylinder is a component in which a servo motor drives a screw to rotate, and the screw moves linearly under the guidance of a threaded sleeve and a guide structure. This is existing technology and will not be described in detail here. The first electric cylinder 3 can drive the launch arm 2 to rotate relative to the base frame 1, so that the launch arm 2 can be deployed, thereby enabling the rocket body to switch to a vertical state and prepare for launch. After the rocket body is in a vertical position, it is supported by the leveling bracket 4. The tilt angle sensor 7 is set to detect the tilt degree of the support platform 5 in real time, and outputs a signal with tilt angle information to the external controller. The external controller receives the signal, analyzes it, and then sends a signal with the extension distance or retraction distance to the second electric cylinder 6. The second electric cylinder 6 receives the signal and makes adjustments until the tilt angle sensor 7 detects that the support platform 5 is in a horizontal position. Thus, the rocket body can be in a vertical position to ensure a smooth launch. During the rocket ignition and launch process, the combustion of fuel releases a large amount of heat. Currently, most existing technologies use hydraulic systems to drive the launch arm 2 to unfold. However, hydraulic systems are greatly affected by temperature and are prone to leakage or damage, which affects the rocket's launch operation and increases costs. Therefore, this application uses an electric cylinder to replace the hydraulic system. Based on the working principle of the electric cylinder, it does not contain hydraulic oil, so there is no concern about damage caused by temperature. Meanwhile, by setting up the leveling bracket 4, the vertical attitude of the rocket body before launch can be ensured, and by further setting up the second electric cylinder 6, the effects of high temperature can also be eliminated.

[0034] It should be noted that two auxiliary electric cylinders 53 are also included, which are used to provide auxiliary support for the launch arm 2 when the first electric cylinder 6 deploys the launch arm 2.

[0035] like Figure 2 and Figure 3 As shown, the base frame 1 is made of sheet metal of a specific thickness, cut and welded together. The structural frame has multiple reinforcing ribs to improve overall rigidity and strength. Anchor bolts are located at the bottom for mounting. These anchor bolts are used to securely support the launcher body and connect it to the ground, enhancing stability. Launch arm 2 is made of rectangular cold-formed hollow steel cut and welded together. The structural frame has multiple reinforcing ribs to improve the overall rigidity and strength, and is used to support the rocket body in both horizontal and vertical states.

[0036] One end of the launch arm 2 is the first end, and the first end is rotatably equipped with a first rotating shaft 11; Furthermore, a support base is fixedly provided on the top of the base frame 1. The support base includes a support base body 9. The bottom of the support base body 9 is provided with mounting holes that allow screws to pass through and connect to the base frame 1. The top of the support base body 9 is provided with a rotating shaft groove and a rotating shaft pressure seat 10. A pressing space is formed between the rotating shaft groove and the rotating shaft pressure seat 10. Furthermore, the first rotating shaft 11 is disposed in the pressing space, and the rotating shaft pressure seat 10 is also provided with an exhaust hole 12. After the rotating shaft pressure seat 10 is installed on the support body 9 by screws, the exhaust hole 12 is used to discharge the air in the pressing space. Therefore, by activating the first electric cylinder 3, the first telescopic end extends, causing the launch arm 2 to rotate around the axis of the first rotating shaft 11, which enables the launch arm 2 to unfold and switch from a horizontal state to a vertical state; the axis of the first rotating shaft 11 is parallel to a third direction, which is a horizontal direction perpendicular to the first direction; Furthermore, the support body 9 is made of a plate of a specific thickness, cut and welded together, and the structural frame has multiple reinforcing ribs to improve the overall rigidity and strength, and is used for all-state support of the launch arm 2; the rotating shaft pressure seat 10 is machined from a plate of a specific thickness and is used to fix the first rotating shaft 11.

[0037] like Figure 2 , Figure 4 and Figure 5 As shown, the leveling bracket 4 includes a base 8, which is fixedly mounted on the base frame 1, and the top of the base 8 is fixedly provided with multiple ball sockets corresponding to multiple second electric cylinders 6. The second electric cylinder 6 has a second connecting end and a second telescopic end. The second connecting end is connected to the bottom of the support platform 5, and the second telescopic end is provided with a ball head that is adapted to the ball socket seat. Therefore, the ball head can rotate within the ball socket, and when the second electric cylinder 6 extends and retracts to adjust the support platform 5, the cooperation between the ball head and the ball socket can avoid interference.

[0038] A ballistic deflector 13 is detachably installed on the side wall away from the base frame 1 at the first end of the launch arm 2. The ballistic deflector 13 is used to connect the tail of the rocket body when the launch arm 2 carries the rocket body. The top of the support platform 5 is screwed with multiple rocket body parking legs 14, which are used to connect the deflector 13 when the launch arm 2 is switched to the vertical state, and the tilt of the deflector 13 can be adjusted by rotating the rocket body parking legs 14 to ensure that the rocket body is in a vertical state. Furthermore, the deflector 13 and the first end are connected by bolts. When the launch arm 2 is in a horizontal state and carries the rocket body, the rocket body tail is connected by bolts. When the launch arm 2 is extended to a vertical state, the rocket body parking leg 14 is connected by bolts. Then the connection between the deflector 13 and the launch arm 2 is released. After the support platform 5 is adjusted to a horizontal state, the rocket body parking leg 14 is rotated to adjust the height of the rocket body parking leg 14 extending out of the support platform 5, thereby achieving fine adjustment of the rocket body and ensuring that it is in a vertical state. It should be noted that the deflector 13 is provided with mounting holes corresponding to the tail of the rocket body and the launch arm 2, and the deflector 13 is also provided with mounting holes that can connect to the rocket body parking leg 14. Correspondingly, the top of the rocket body parking leg 14 is provided with a mounting block, and the top of the mounting block is provided with a mounting hole.

[0039] It should be noted that a flow guide 43 is also provided on the top of the base 8. The flow guide 43 is made of a plate of a specific thickness that is cut and welded together. The structural frame has multiple reinforcing ribs to improve the overall rigidity and strength. It is bolted to the base frame 1 and is used to guide and divert the tail flame when the rocket body is launched.

[0040] like Figure 1 As shown, a slide rail 15 extending along its length direction is provided on the side wall of the launch arm 2 away from the base frame 1, i.e., the first direction, and an electric release mechanism 16, an electric clamping mechanism 17 and a support bracket mechanism 18 are connected to the slide rail 15. The electric release mechanism 16, the electric clamping mechanism 17, and the support bracket mechanism 18 are all adjusted to their positions on the launch arm 2 via sliding limit components. Both the electric clamping mechanism 17 and the support bracket mechanism 18 adjust their relative distance from the rocket body via the lifting adjustment assembly, i.e., their position in the second direction. The electric release mechanism 16 is used for the electrical separation of the rocket body.

[0041] like Figure 6 As shown, the sliding limit component includes: The movable base plate 19 has a slider 20 that is adapted to the slide rail 15 fixedly installed on the side wall of the movable base plate 19 near the launch arm 2, and a fixing block 21 is also fixedly installed on the side wall of the movable base plate 19 near the launch arm 2. Locking block 22 is movably disposed on one side of the movable base plate 19 along the first direction. A first screw 23 extending along the first direction is rotatably disposed on the locking block 22, and one end of the first screw 23 is screwed into the fixed block 21. A first guide rod 24 extending along the first direction and capable of sliding through the locking block 22 is fixedly disposed on the side wall of the movable base plate 19 near the locking block 22. The locking block 22 is provided with a locking handle 25, one end of which extends into the locking block 22 to abut against the first screw 23 to prevent the first screw 23 from rotating. A first locking hole 26 is provided through the locking block 22 along the second direction, and a plurality of second locking holes are evenly provided on the launching arm 2 along its length direction. The locking member extends through the first locking hole 26 along the second direction into the second locking hole to lock the locking block 22. Furthermore, the end of the first screw 23 away from the fixed block 21 can rotatably pass through the locking block 22 and is fixedly connected to a rotating handle 44. Optionally, the side wall of the first screw 23 has a circumferential groove, which can restrict the locking block 22. Therefore, by rotating the rotating handle 44, the first screw 23 can be rotated to adjust the depth of the first screw 23 in the fixed block 21, and the locking block 22 can be moved along the first direction by the sliding guide of the first guide rod 24. Furthermore, after the locking block 22 is moved into place, the locking handle 25 is tightened, and one end of it located inside the locking block 22 abuts against the side wall of the first screw 23, thereby limiting the first screw 23 and preventing it from rotating. Then, the locking member extends through the first locking hole 26 into the second locking hole to lock the locking block 22. This enables the positioning of the sliding limit component, thereby enabling the positioning of the electric release mechanism 16, the electric clamp mechanism 17, and the support bracket mechanism 18. The locking element can be a long bolt or a straight rod.

[0042] like Figure 7 As shown, the lifting adjustment assembly includes: The elevator 27 includes a housing, which is fixedly mounted on the side wall of the movable base plate 19 away from the launch arm 2. The housing is provided with a matching worm gear and worm. The worm is parallel to a third direction, and the worm gear is a ring structure with its axis parallel to a second direction. The inner ring of the worm gear is coaxially threaded with a second screw 28. A connector is fixedly mounted on the end of the second screw 28 away from the launch arm 2. At least two elevators 27 are arranged along a third direction, and the worm gears in the at least two elevators 27 are connected in series by a connecting rod 29. One end of the worm gear inside one of the elevators 27 extends to the outside of the housing and is connected to a handwheel 30; A linear guide bearing 31 is fixedly mounted on the side wall of the movable base plate 19 away from the launching arm 2 and extends along the second direction. An optical axis 32 is slidably connected inside the linear guide bearing 31. An optical axis support seat 33 is fixedly connected to one end of the optical axis 32 away from the launching arm 2.

[0043] like Figures 8 to 11 As shown, the electric clamping mechanism 17 includes: The first support part 34, the connecting piece and the optical axis support seat 33 corresponding to the electric clamp mechanism 17 are all fixedly connected to the first support part 34, and a clamp support block 35 is fixedly provided on the first support part 34. The clamping jaws 36 are two in number and are symmetrically and rotatably disposed at both ends of the clamping support block 35. The linkage push rod assembly has two ends that are rotatably connected to two clamping jaws 36 respectively. The linkage push rod assembly is driven by the first driving member 37 to open or close the clamping jaws 36. The first support part 34 includes a clamp base plate 45 and two clamp support plates 46. The clamp base plate 45 is parallel to the third direction. Both the clamp base plate 45 and the clamp support plates 46 are machined from plates of a specified thickness. The two clamp support plates 46 are respectively set on the two side walls of the clamp base plate 45 in the first direction, and optionally, they are connected by bolts. Furthermore, the first support part 34 also includes two clamping plates 47. The clamping plates 47 are machined from plates of a specified thickness after cutting. The two clamping plates 47 are respectively disposed at both ends of the clamping base plate 45 in a third direction. Optionally, the clamping plates 47 and the clamping base plate 45 are welded together, and the clamping plates 47 are located between the two clamping support plates 46 and are bolted to the clamping support plates 46. Furthermore, an installation space is formed inside the first support part 34, and the clamp support block 35 is fixedly installed in the installation space. It can be connected to the two clamp support plates 46 by bolts. The clamp support block 35 is rotatably connected to the two ends of the clamp support block 35. The two clamp grippers 36 are rotatably connected to the clamp support block 35 through the second shafts. Optionally, the two ends of the second shafts pass through the two clamp support plates 46 respectively. Furthermore, the linkage actuator assembly includes: The clamp lifting push rod 48 extends along a third direction; Two gripper push rods 49 are provided, each corresponding to one of the two clamping jaws 36. One end of the gripper push rod 49 is rotatably connected to the clamping jaw 36 via the gripper drive shaft 50, and the other end is rotatably connected to one end of the corresponding clamping lifting push rod 48 via the drive rod shaft 51. A second guide rod 52 extending in the second direction is provided on the side wall of the clamp support block 35 near the launch arm 2. A through hole is provided on the clamp lifting push rod 48 corresponding to the second guide rod 52. The second guide rod 52 can guide and limit the movement of the clamp lifting push rod 48 to ensure smooth movement. Furthermore, the first driving component 37 is fixedly mounted on the side wall of the clamp base plate 45 away from the launch arm 2, and can be bolted. The first driving component 37 has a driving end, and a fifth screw is coaxially fixedly connected to the driving end. A driving nut sleeve 54 is fixedly mounted on the clamp lifting push rod 48, and the fifth screw is screwed into the driving nut sleeve 54. The first driving component 37 can be a servo motor. Thus, by activating the first driving component 37, the driving end drives the fifth screw to rotate. The fifth screw engages with the thread of the driving nut sleeve 54, and the driving nut sleeve 54 is fixedly mounted on the clamp lifting push rod 48. Therefore, the rotation of the fifth screw can drive the clamp lifting push rod 48 to move in the second direction. When the clamp lifting push rod 48 moves toward the launch arm 2, it drives the jaw push rod 49 to move, causing the two clamp jaws 36 to rotate around the jaw shaft 55 to open. When the clamp lifting push rod 48 moves toward the rocket body, it drives the jaw push rod 49 to move, causing the two clamp jaws 36 to rotate around the jaw shaft 55 to close.

[0044] Limiting components are provided on the side walls of the two clamping plates 47 that are far apart. The limiting components include: Sensor mounting base 56 is fixedly mounted on clamp upright plate 47, and its cross-section is T-shaped structure; The sensor mounting plate has two plates, which are respectively fixedly mounted on two opposite side walls of the sensor mounting base 56 along the first direction; Limit switches 58, two of them are respectively disposed on the side walls of two sensor fixing plates that are far apart. Limit switches 58 have contact ends and are provided with a set distance. Limit switches 58 are electrically connected to the first driving member 37. Optionally, limit switches 58 are of the rotating type. When the clamping jaws 36 open and contact the contact end, and drive the contact end to move a set distance, the limit switch 58 controls the first driving component 37 to stop, thereby preventing the clamping jaws 36 from opening too much and causing danger.

[0045] Furthermore, the clamping jaws 36 are provided with mounting holes, and rocket fixing blocks 57 are provided on the inner side of the clamping jaws 36. The rocket fixing blocks 57 can be connected by bolts passing through the mounting holes. When the clamping jaws 36 clamp the rocket, the rocket fixing blocks 57 can provide sufficient preload and protect the rocket from damage.

[0046] The clamp support block 35 is equipped with a fine-tuning component, such as... Figure 12 As shown, the fine-tuning assembly includes an adapter 59 and a transverse shifter 60. The adapter 59 is fixedly mounted on the first support 34. Optionally, it is fixedly connected by bolts and two clamp support plates 46. The end of the adapter 59 away from the launch arm 2 is provided with an oblong hole extending in a third direction. Furthermore, the transverse sliding seat 60 is movably mounted on the adapter seat 59. Correspondingly, the transverse sliding seat 60 has a connecting hole on its side wall for mounting bolts. The bolts extend through the oblong hole into the connecting hole to lock the transverse sliding seat 60 and the adapter seat 59. A movable slide 61 is provided on the side wall of the adapter 59 away from the clamp support block 35. Multiple optical rods extending along the third direction are provided on the movable slide 61. Therefore, the transverse seat 60 can move along the movable slide 61 and the optical rods. The movable slide 61 and the optical rods provide smooth guidance for the movement of the transverse seat 60. The fine-tuning assembly also includes an adjustment shaft 62 and an adjustment nut rod 63. A rocket support block 64 is provided on the transverse shift seat 60. The rocket support block 64 has adjustment shafts 62 extending in the first direction on both sides in the third direction. The transverse shift seat 60 has adjustment nut rods 63 extending in the first direction on both ends in the third direction. Adjustment holes are provided on the adjustment shafts 62 and the adjustment nut rods 63 respectively. By extending a long bolt into the adjustment holes of the adjustment shafts 62 and the adjustment nut rods 63 and turning it, the rotational fine-tuning of the rocket support block 64 can be realized, thereby driving the rocket body to rotate and fine-tune.

[0047] like Figure 13 As shown, the support mechanism 18 includes: The second support part 38, the connecting piece of the corresponding support support mechanism 18 and the optical axis support seat 33 are all fixedly connected to the second support part 38. A third screw is rotatably provided inside the second support part 38. One end of the third screw extends to the outside of the second support part 38 and is coaxially fixedly connected to a handwheel 30. The third support part 39 is used to support the rocket body. A movable block is fixedly installed on the side wall of the third support part 39 near the launch arm 2. The movable block is movably installed in the second support part 38 and screwed to the third screw. The second support part 38 has a waist-shaped hole extending in the third direction through its side wall in the first direction. The third support part 39 has a third guide rod on its side wall in the first direction. The third guide rod passes through the waist-shaped hole. By rotating the handwheel 30, the third screw is driven to rotate. The third guide rod cooperates with the waist-shaped hole to limit the third support part 39. Thus, the moving block and the third support part 39 can move in the third direction so that the third support part 39 can better support the rocket body.

[0048] like Figure 14 As shown, the electric release mechanism 16 includes: The plug-in part 40 has a detachable plug, and a connecting block 41 is fixedly provided on the side wall of the plug-in part 40; The second driving component 42 is fixedly mounted on the movable base plate 19 of the corresponding electric release mechanism 16. The driving end of the second driving component 42 is coaxially fixedly connected to the fourth screw, and the fourth screw is screwed to the connecting block 41. The second driving component 42 can be a servo motor. The guide assembly is used to prevent the insertion part 40 from rotating. The guide assembly includes a fixed support plate 65 fixedly mounted on the movable base plate 19 corresponding to the electric release mechanism 16. The guide assembly also includes a fourth guide rod 66 extending in the second direction fixedly mounted on the guide assembly and a guide block fixedly mounted on the fixed support plate 65. The fourth guide rod 66 slides through the guide block. The guide block is also equipped with a locking handle 25. When the fourth guide rod 66 moves and drives the insertion part 40 to the required position, the fourth guide rod 66 is limited by tightening the locking handle 25 to prevent the fourth guide rod 66 from being displaced. By activating the second driving component 42, the driving end drives the fourth screw to rotate, and through the sliding cooperation of the fourth guide rod 66 and the guide block, the insertion part 40 moves along the second direction.

[0049] Working principle: In the initial state, the first electric cylinder 3 retracts, the launch arm 2 is parallel to the base frame 1, the position of the electric release mechanism 16, the electric clamp mechanism 17 and the support support mechanism 18 on the launch arm 2 is adjusted by the sliding limit component, and the height of the electric clamp mechanism 17 and the support support mechanism 18 is adjusted by the lifting adjustment component to prepare for receiving the rocket body. The sliding cooperation between slider 20 and slide rail 15 enables the positional movement of electric release mechanism 16, electric clamp mechanism 17 and support bracket mechanism 18. By turning the handwheel 30, the worm gear rotates, which in turn drives the turbine to rotate. The first support part 34 and the second support part 38 are respectively fixedly connected to the connecting parts on the corresponding second screw 28. Therefore, the first support part 34 and the second support part 38 can move along the second direction, so that the electric clamping mechanism 17 and the support support mechanism 18 reach the appropriate height. After the rocket body is parked, the position and height of the electric clamp mechanism 17 and the support bracket mechanism 18 are readjusted according to the actual situation of the rocket body. The first screw 23 is rotated by rotating the rotating handle 44 to adjust the depth of the first screw 23 in the fixed block 21. The locking block 22 is moved along the first direction by the sliding guide of the first guide rod 24. When the locking block 22 is in place, the locking handle 25 is tightened. One end of the handle located in the locking block 22 abuts against the side wall of the first screw 23, thereby limiting the first screw 23 and preventing it from rotating. Then, the locking member extends through the first locking hole 26 to the second locking hole to lock the locking block 22. Thus, the positioning of the sliding limit component can be realized, thereby realizing the positioning of the electric release mechanism 16, the electric clamp mechanism 17 and the support bracket mechanism 18. Meanwhile, to ensure stable support of the rocket body, the rocket support block 64 is finely adjusted by moving the transverse sliding seat 60 and rotating the rocket support block 64, so that it can support the rocket body more stably. Then the whole thing moves along the first direction, so that the tail of the rocket body contacts the bullet deflector 13 and connects with the bullet deflector 13. When the first drive unit 37 is activated, the drive end drives the fifth screw to rotate. The fifth screw engages with the drive nut sleeve 54 through the thread, and the drive nut sleeve 54 is fixedly mounted on the clamp lifting push rod 48. Therefore, the rotation of the fifth screw can drive the clamp lifting push rod 48 to move in the second direction. By moving the clamp lifting push rod 48 away from the launch arm 2, the clamp push rod 49 is driven to move, so that the two clamp clamps 36 rotate around the clamp shaft 55 to achieve closure and clamp the rocket body. Start the first electric cylinder 3 to extend the launch arm 2 until the ballistic deflector 13 contacts the support platform 5. Connect the ballistic deflector 13 and the rocket body parking leg 14 with bolts, and then disconnect the ballistic deflector 13 from the launch arm 2. Then, by reversing the drive end of the first drive component 37, the clamping jaws 36 open, and then the first electric cylinder 3 retracts, and the launch arm 2 returns to the horizontal state, thus completing the pre-launch equipment work.

[0050] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An automatically leveling launcher characterized by, include: The launcher body includes a rotatably connected base frame (1) and launch arm (2), the launch arm (2) being used to support the rocket body; The first electric cylinder (3) is used to drive the launching arm (2) to rotate relative to the base frame (1) so that the launching arm (2) can switch between a horizontal state and a vertical state. The first electric cylinder (3) has a first connecting end and a first telescopic end. The first connecting end is rotatably connected to the base frame, and the first telescopic end is rotatably connected to the launching arm (2). The leveling bracket (4) is fixedly mounted on the base frame (1) and is used to support the rocket body when the launch arm (2) is switched to the vertical state. The leveling bracket (4) includes a support platform (5). Multiple second electric cylinders (6) are evenly arranged around the bottom of the support platform (5), and multiple tilt sensors (7) are evenly arranged on the circumferential sidewall of the support platform (5). The tilt sensors (7) are used to detect the tilt degree of the support platform (5).

2. An automatically leveling launcher as in claim 1, wherein, The leveling bracket (4) includes a base (8), which is fixedly mounted on the base frame (1), and the top of the base (8) is fixedly provided with multiple ball sockets corresponding to multiple second electric cylinders (6); The second electric cylinder (6) has a second connecting end and a second telescopic end. The second connecting end is connected to the bottom of the support platform (5), and the second telescopic end is provided with a ball head that is adapted to the ball socket seat.

3. An automatic level ling launcher as claimed in claim 1, wherein, The base frame (1) is fixedly provided with a support seat at the top. The support seat includes a support seat body (9). The top of the support seat body (9) is provided with a rotating shaft groove and a rotating shaft pressure seat (10). A pressing space is formed between the rotating shaft groove and the rotating shaft pressure seat (10). One end of the launching arm (2) is the first end, and the first end is rotatably provided with a first rotating shaft (11). The first rotating shaft (11) is located in the pressing space. The rotating shaft pressure seat (10) is also provided with an exhaust hole (12) for discharging the air in the pressing space when it presses the first rotating shaft (11).

4. An automatically leveling launcher as in claim 3, wherein, A bullet deflector (13) is detachably provided on the side wall away from the base frame (1) at the first end. The bullet deflector (13) is used to connect the tail of the rocket body when the launch arm (2) carries the rocket body. The top of the support platform (5) is screwed with multiple rocket body parking legs (14), which are used to connect the deflector (13) when the launch arm (2) is switched to the vertical state, and the tilt of the deflector (13) can be adjusted by rotating the rocket body parking legs (14) to ensure that the rocket body is in a vertical state.

5. An automatic level ling launcher as in claim 1, wherein, The launch arm (2) is provided with a slide rail (15) extending along its length on the side wall away from the base frame (1), and is movably connected to an electric release mechanism (16), an electric clamping mechanism (17) and a support bracket mechanism (18). The electric release mechanism (16), the electric clamping mechanism (17), and the support bracket mechanism (18) are all adjusted to their positions on the launch arm (2) via a sliding limit assembly; The electric clamping mechanism (17) and the support bracket mechanism (18) are both adjusted relative to the rocket body by lifting adjustment components, and the electric release mechanism (16) is used for electrical separation of the rocket body.

6. An automatically leveling launcher as in claim 5, wherein, The sliding limit component includes: A movable base plate (19) is provided with a slider (20) adapted to the slide rail (15) on the side wall of the movable base plate (19) near the launch arm (2), and a fixing block (21) is also provided on the side wall of the movable base plate (19) near the launch arm (2). A locking block (22) is provided with a first screw (23) rotatably mounted on the locking block (22), and one end of the first screw (23) is screwed into the fixed block (21); a first guide rod (24) that can slide through the locking block (22) is fixedly mounted on the side wall of the movable base plate (19) near the locking block (22). The locking block (22) is provided with a locking handle (25), one end of which extends into the locking block (22) to abut against the first screw (23) to prevent the first screw (23) from rotating; The locking block (22) has a first locking hole (26) extending through it in a direction perpendicular to the launching arm (2). The launching arm (2) has a plurality of second locking holes evenly arranged along its length. The locking member extends through the first locking hole (26) into the second locking hole to lock the locking block (22).

7. An automatically leveling launcher as in claim 6, wherein, The lifting adjustment component includes: The elevator (27) includes a housing, which is fixedly mounted on the side wall of the movable base plate (19) away from the launch arm (2). The housing is provided with a matching worm gear and worm. The worm gear is a ring structure, and its inner ring is coaxially threaded with a second screw (28). A connector is fixedly mounted on one end of the second screw (28) away from the launch arm (2). At least two elevators (27) are provided, and the worm gears in the at least two elevators (27) are connected in series by a connecting rod (29); One end of the worm gear in one of the elevators (27) extends to the outside of the housing and is connected to a handwheel (30); A linear guide bearing (31) is fixedly mounted on the side wall of the movable base plate (19) away from the launching arm (2). An optical axis (32) is slidably connected inside the linear guide bearing (31). An optical axis support seat (33) is fixedly connected to one end of the optical axis (32) away from the launching arm (2).

8. An automatic level ling launcher as claimed in claim 7, characterized in that The electric clamping mechanism (17) includes: The first support part (34) is fixedly connected to the connecting piece of the electric clamping mechanism (17) and the optical axis support seat (33). A clamping support block (35) is fixedly provided on the first support part (34). The clamping jaws (36) are two in number and are symmetrically and rotatably disposed at both ends of the clamping support block (35); The linkage push rod assembly is rotatably connected to the two clamping jaws (36) at both ends. The linkage push rod assembly is driven by the first driving member (37) to open or close the clamping jaws (36).

9. An automatic level ling launcher as in claim 7, wherein, The support mechanism (18) includes: The second support part (38) is fixedly connected to the connecting piece and the optical axis support seat (33) of the support support mechanism (18). A third screw is rotatably provided inside the second support part (38). One end of the third screw extends to the outside of the second support part (38) and is coaxially fixedly connected to a handwheel (30). The third support part (39) is used to support the rocket body. The third support part (39) is provided with a movable block. The movable block is movably disposed in the second support part (38) and screwed to the third screw.

10. An automatically leveling launcher as in claim 7, wherein, The electrically operated release mechanism (16) includes: The plug-in part (40) has a detachable plug, and a connecting block (41) is fixedly provided on the side wall of the plug-in part (40). The second driving member (42) is fixedly installed on the side wall of the movable base plate (19) corresponding to the electric release mechanism (16) away from the launch arm (2). The driving end of the second driving member (42) is coaxially fixedly connected to the fourth screw, and the fourth screw and the connecting block (41) are screwed together. A guide assembly is provided to prevent the insertion part (40) from rotating.

Images